sl-controls
1e69337ffd
Closed-loop yaw-rate controller that converts Jetson Twist.angular.z to a differential wheel speed offset using IMU gyro Z as feedback. - include/steering_pid.h + src/steering_pid.c: PID with anti-windup (integral clamped to ±200 counts) and rate limiter (10 counts/ms max output change) to protect balance PID from sudden steering steps. JLINK_TLM_STEERING (0x8A) telemetry at 10 Hz. - include/mpu6000.h + src/mpu6000.c: expose yaw_rate (board_gz) in IMUData so callers have direct bias-corrected gyro Z feedback. - include/jlink.h + src/jlink.c: add JLINK_TLM_STEERING (0x8A), jlink_tlm_steering_t (8 bytes), jlink_send_steering_tlm(). - test/test_steering_pid.c: 78 unit tests (host build with gcc), all passing. Usage (main loop): steering_pid_set_target(&s, jlink_state.steer * STEER_OMEGA_SCALE); int16_t steer_out = steering_pid_update(&s, imu.yaw_rate, dt); motor_driver_update(&motor, balance_cmd, steer_out, now_ms); Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>