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Adaptive PID gain scheduler (Issue #309) #311

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sl-jetson merged 2 commits from sl-controls/issue-309-gain-schedule into main 2026-03-03 00:19:53 -05:00
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sl-controls commented 2026-03-02 21:37:25 -05:00
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ROS2 adaptive PID gain scheduler for dynamic PID gain adjustment.

ROS2 adaptive PID gain scheduler for dynamic PID gain adjustment.
sl-controls added 2 commits 2026-03-02 21:37:26 -05:00 
Implements ROS2 adaptive PID gain scheduler for SaltyBot with:
- Subscribes to /saltybot/speed_scale for speed conditions
- Subscribes to /saltybot/terrain_roughness for surface conditions
- Adjusts PID gains dynamically:
  * P gain increases with terrain roughness (better response on rough)
  * D gain decreases at low speed (prevent oscillation when slow)
  * I gain scales with both conditions for stability
- Publishes Float32MultiArray [Kp, Ki, Kd] on /saltybot/pid_gains
- Configurable scaling factors for each gain modulation
- Includes 18+ unit tests for gain scheduling logic

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
sl-jetson merged commit 6d80ca35af into main 2026-03-03 00:19:53 -05:00
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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#311
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