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PID tuning interface — expose balance gains via CAN/ROS2 params #693

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opened 2026-03-20 16:18:15 -04:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-20 16:18:15 -04:00
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Expose Mamba F722S balance PID gains (Kp, Ki, Kd) as configurable parameters via CAN commands from Orin. Add ROS2 dynamic_reconfigure-style parameter service on Jetson side. Allow live-tuning without reflashing firmware. Current gains are compile-time constants.

Expose Mamba F722S balance PID gains (Kp, Ki, Kd) as configurable parameters via CAN commands from Orin. Add ROS2 dynamic_reconfigure-style parameter service on Jetson side. Allow live-tuning without reflashing firmware. Current gains are compile-time constants.
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#693
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