seb/saltylab-firmware
1
0
Fork 0
Code Issues Pull Requests 5 Actions Packages Projects Releases Wiki Activity
saltylab-firmware/jetson/ros2_ws/src
History
sl-firmware 19a30a1c4f feat: PID auto-tune for balance mode (Issue #531) 
Implement Ziegler-Nichols relay feedback auto-tuning with flash persistence:

Firmware (STM32F722):
- pid_flash.c/h: erase+write Kp/Ki/Kd to flash sector 7 (0x0807FFC0),
  magic-validated; load on boot to restore saved tune
- jlink.h: add JLINK_CMD_PID_SAVE (0x0A) and JLINK_TLM_PID_RESULT (0x83)
  with jlink_tlm_pid_result_t struct and pid_save_req flag in JLinkState
- jlink.c: dispatch JLINK_CMD_PID_SAVE -> pid_save_req; add
  jlink_send_pid_result() to confirm flash write outcome over USART1
- main.c: load saved PID from flash after balance_init(); handle
  pid_save_req in main loop (disarmed-only, erase stalls CPU ~1s)

Jetson ROS2 (saltybot_pid_autotune):
- pid_autotune_node.py: add Ki to Ziegler-Nichols formula (ZN PID:
  Kp=0.6Ku, Ki=1.2Ku/Tu, Kd=0.075KuTu); add JLink serial client that
  sends JLINK_CMD_PID_SET + JLINK_CMD_PID_SAVE after tuning completes
- autotune_config.yaml: add jlink_serial_port and jlink_baud_rate params

Trigger: ros2 service call /saltybot/autotune_pid std_srvs/srv/Trigger

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
2026-03-07 09:56:19 -05:00
..
saltybot_accel_limiter
feat(controls): Smooth acceleration rate limiter (Issue #241)
2026-03-02 12:22:58 -05:00
saltybot_accessibility_mode
feat: Implement deaf/accessibility mode with STT, touch keyboard, TTS (Issue #371)
2026-03-03 18:17:41 -05:00
saltybot_adaptive_pid
feat(controls): adaptive PID balance controller with gain scheduling (Issue #136)
2026-03-02 09:38:46 -05:00
saltybot_apriltag
feat(jetson): AprilTag landmark detector — DICT_APRILTAG_36h11 (issue #191)
2026-03-02 11:07:35 -05:00
saltybot_apriltag_msgs
feat(jetson): AprilTag landmark detector — DICT_APRILTAG_36h11 (issue #191)
2026-03-02 11:07:35 -05:00
saltybot_audio_direction
feat: Add audio direction estimator (Issue #430)
2026-03-05 08:53:43 -05:00
saltybot_audio_pipeline
feat: Add Issue #503 - Audio pipeline with Jabra SPEAK 810
2026-03-06 10:30:58 -05:00
saltybot_bag_recorder
feat: ROS2 bag recording for mission logging (Issue #488)
2026-03-05 17:08:21 -05:00
saltybot_balance_controller
feat: Add VESC balance PID controller with tilt safety (Issue #407)
2026-03-04 22:40:40 -05:00
saltybot_battery_speed_limiter
feat: Add battery-aware speed limiter ROS2 node (Issue #321)
2026-03-03 00:46:12 -05:00
saltybot_battery_speed_scaler
feat(controls): Battery-aware speed scaling (Issue #251)
2026-03-02 12:48:16 -05:00
saltybot_bridge
feat: Add FC↔Orin UART verification (Issue #362)
2026-03-04 12:17:56 -05:00
saltybot_bridge_msgs
feat(perception): wheel encoder differential drive odometry (Issue #184)
2026-03-03 00:41:39 -05:00
saltybot_bringup
feat: Integration test suite (Issue #504)
2026-03-06 16:42:38 -05:00
saltybot_calibration
feat(calibration): IMX219 intrinsic + extrinsic calibration workflow (Issue #106)
2026-03-02 08:38:24 -05:00
saltybot_cameras
feat: Orin Nano Super platform update + 4x IMX219 CSI cameras
2026-02-28 22:59:13 -05:00
saltybot_cellular
feat: Add Issue #502 - Headscale VPN auto-connect on Orin
2026-03-06 10:25:04 -05:00
saltybot_cliff_detector
feat(controls): Cliff and drop-off detection safety node (Issue #288)
2026-03-02 20:45:21 -05:00
saltybot_cmd_vel_mux
feat(controls): Priority-based cmd_vel multiplexer (Issue #228)
2026-03-02 12:01:00 -05:00
saltybot_compass
feat(controls): Tilt-compensated compass heading node (Issue #235)
2026-03-02 12:11:37 -05:00
saltybot_curiosity
feat: Add Issue #473 - Event Logger with structured JSON logging
2026-03-05 12:09:07 -05:00
saltybot_dashboard
Merge PR #485: Issue #483 - Monitoring dashboard
2026-03-05 14:48:46 -05:00
saltybot_description
feat: Add URDF robot description (Issue #477)
2026-03-05 14:42:49 -05:00
saltybot_diagnostics
feat: Add diagnostic self-test system (Issue #445)
2026-03-05 09:06:18 -05:00
saltybot_docking
feat: Add docking state publisher and update configuration (Issue #489)
2026-03-05 17:08:48 -05:00
saltybot_docking_msgs
feat(#158): docking station auto-return with ArUco/IR detection and visual servo
2026-03-02 10:19:22 -05:00
saltybot_dynamic_obs_msgs
feat(jetson): add dynamic obstacle tracking package (issue #176)
2026-03-02 10:44:32 -05:00
saltybot_dynamic_obstacles
feat(jetson): add dynamic obstacle tracking package (issue #176)
2026-03-02 10:44:32 -05:00
saltybot_emergency
feat(#169): emergency behavior system — obstacle stop, fall prevention, stuck detection, recovery FSM
2026-03-02 10:39:37 -05:00
saltybot_emergency_msgs
feat(#169): emergency behavior system — obstacle stop, fall prevention, stuck detection, recovery FSM
2026-03-02 10:39:37 -05:00
saltybot_emergency_stop
feat: Emergency stop cascade system (Issue #459)
2026-03-05 09:19:31 -05:00
saltybot_emotion_engine
feat: Add Issue #429 - Emotion engine with context-aware face expression selection
2026-03-05 08:53:56 -05:00
saltybot_event_logger
feat: Add Issue #473 - Event Logger with structured JSON logging
2026-03-05 12:09:07 -05:00
saltybot_face_bridge
feat: face display bridge node (Issue #394)
2026-03-04 12:44:33 -05:00
saltybot_first_encounter
feat: first encounter orchestrator state machine (Issue #400)
2026-03-04 13:12:47 -05:00
saltybot_fleet
feat(fleet): multi-robot SLAM — map sharing + cooperative exploration (Issue #134)
2026-03-02 09:36:17 -05:00
saltybot_fleet_msgs
feat(fleet): multi-robot SLAM — map sharing + cooperative exploration (Issue #134)
2026-03-02 09:36:17 -05:00
saltybot_follower
feat: UWB follow-me system (#57) — saltybot_uwb package + sensor fusion
2026-03-01 00:48:03 -05:00
saltybot_gamepad_teleop
feat: Add Issue #429 - Emotion engine with context-aware face expression selection
2026-03-05 08:53:56 -05:00
saltybot_geofence
feat: Add Issue #441 - Geofence safety with configurable boundary
2026-03-05 09:05:55 -05:00
saltybot_gesture_recognition
feat: Add gesture recognition system (Issue #454)
2026-03-05 09:19:43 -05:00
saltybot_hand_tracking
feat(perception): MediaPipe hand tracking — Leap Motion pivot (Issue #342)
2026-03-03 12:47:22 -05:00
saltybot_hand_tracking_msgs
feat(perception): MediaPipe hand tracking — Leap Motion pivot (Issue #342)
2026-03-03 12:47:22 -05:00
saltybot_health_monitor
feat: Add ROS2 system health monitor (Issue #408)
2026-03-05 08:52:52 -05:00
saltybot_imu_calibration
feat(controls): IMU calibration routine (Issue #278)
2026-03-02 17:35:30 -05:00
saltybot_led_controller
feat: LED strip controller (Issue #432)
2026-03-05 08:55:41 -05:00
saltybot_lidar_avoidance
feat: Implement 360° LIDAR obstacle avoidance (Issue #364)
2026-03-03 17:29:14 -05:00
saltybot_mapping
feat: Map save/load service for SLAM Toolbox persistence (Issue #480)
2026-03-05 14:46:33 -05:00
saltybot_mode_switch
feat(controls): Autonomous/RC mode switch with 500ms blend ramp (Issue #104)
2026-03-02 08:38:49 -05:00
saltybot_motor_daemon
feat: Orin motor control daemon (Issue #523)
2026-03-06 23:02:57 -05:00
saltybot_motor_protection
feat: Add Issue #223 - Motor current protection (I^2R thermal derating)
2026-03-02 11:57:17 -05:00
saltybot_multi_person_tracker
feat: Add Issue #423 - Multi-person tracker with group handling + target priority
2026-03-04 23:33:18 -05:00
saltybot_nav2_slam
feat: Nav2 SLAM integration with RPLIDAR + RealSense (Issue #422)
2026-03-04 23:35:15 -05:00
saltybot_night_mode
feat: night mode controller (Issue #444)
2026-03-05 09:05:16 -05:00
saltybot_night_vision
feat(jetson): add saltybot_night_vision package (issue #168)
2026-03-02 10:36:21 -05:00
saltybot_node_watchdog
feat: Add Issue #203 - Node watchdog monitor (20Hz heartbeat detection)
2026-03-02 11:17:19 -05:00
saltybot_object_detection
feat: YOLOv8n object detection with RealSense depth integration (Issue #468)
2026-03-05 12:14:50 -05:00
saltybot_object_detection_msgs
feat: YOLOv8n object detection with RealSense depth integration (Issue #468)
2026-03-05 12:14:50 -05:00
saltybot_obstacle_memory
feat: Add Issue #453 - Obstacle memory map with persistent hazard zones
2026-03-05 09:21:30 -05:00
saltybot_odom_fusion
feat: Add Issue #216 - Odometry fusion node (complementary filter)
2026-03-02 11:50:13 -05:00
saltybot_ota_updater
feat: OTA firmware update (Issue #492)
2026-03-05 17:04:27 -05:00
saltybot_outdoor
feat: outdoor nav — OSM routing + GPS waypoints + geofence (#59)
2026-03-01 00:52:54 -05:00
saltybot_pan_tilt
feat: Add pan/tilt camera head servo control (Issue #384)
2026-03-04 08:44:51 -05:00
saltybot_panoramic
feat(panoramic): 360° equirectangular stitching + RTSP stream (Issue #105)
2026-03-02 08:41:40 -05:00
saltybot_param_server
feat: curiosity behavior — autonomous exploration when idle (Issue #470)
2026-03-05 12:10:33 -05:00
saltybot_patrol
feat: Patrol mode - autonomous waypoint circuit (Issue #446)
2026-03-05 09:04:10 -05:00
saltybot_perception
feat(perception): QR code reader on CSI surround frames (Issue #233)
2026-03-02 12:12:57 -05:00
saltybot_person_reid
chore: remove accidentally committed __pycache__ dirs
2026-03-02 11:39:21 -05:00
saltybot_person_reid_msgs
feat(perception): add person re-ID node (Issue #201)
2026-03-02 11:39:21 -05:00
saltybot_phone
feat: Android/Termux OpenClaw node (Issue #420)
2026-03-05 08:55:47 -05:00
saltybot_photo_capture
Merge remote-tracking branch 'origin/sl-jetson/issue-456-photo-capture'
2026-03-05 11:09:41 -05:00
saltybot_pid_autotune
feat: PID auto-tune for balance mode (Issue #531)
2026-03-07 09:56:19 -05:00
saltybot_pid_scheduler
feat(controls): Adaptive PID gain scheduler (Issue #309)
2026-03-02 21:37:08 -05:00
saltybot_power_supervisor
feat: Add Issue #467 - Power management supervisor with battery protection
2026-03-05 14:34:37 -05:00
saltybot_pure_pursuit
feat: Add pure pursuit path follower for Nav2 (Issue #333)
2026-03-03 06:47:45 -05:00
saltybot_remote_monitor
feat: remote monitoring WebSocket relay (Issue #424)
2026-03-04 23:33:55 -05:00
saltybot_routes
feat: route recording + autonomous replay (#71)
2026-03-01 01:07:06 -05:00
saltybot_rover_driver
feat(rover): SaltyRover 4-wheel ESC motor driver (Issue #110)
2026-03-02 09:03:28 -05:00
saltybot_scene
feat(scene): semantic scene understanding — YOLOv8n TRT + room classification + hazards (Issue #141)
2026-03-02 09:59:53 -05:00
saltybot_scene_msgs
feat: Add Issue #375 — adaptive camera power mode manager
2026-03-03 16:48:17 -05:00
saltybot_segmentation
feat: semantic sidewalk segmentation — TensorRT FP16 (#72)
2026-03-01 01:15:13 -05:00
saltybot_segmentation_costmap
feat: semantic sidewalk segmentation — TensorRT FP16 (#72)
2026-03-01 01:15:13 -05:00
saltybot_sensor_fusion
fix: resolve merge conflicts for voice router PR #499 (keep both docking + mission logging)
2026-03-05 19:25:23 -05:00
saltybot_smooth_velocity
Merge remote-tracking branch 'origin/sl-controls/issue-455-smooth-velocity'
2026-03-05 11:09:32 -05:00
saltybot_social
feat: Add Issue #400 - Encounter offline queue sync service
2026-03-04 13:14:44 -05:00
saltybot_social_enrollment
Merge branch 'origin/sl-firmware/issue-400-encounter-enrollment' into main
2026-03-04 13:32:20 -05:00
saltybot_social_face
feat(social): add 68-point Kalman landmark smoother (Issue #227)
2026-03-02 12:05:24 -05:00
saltybot_social_memory
feat: Add Issue #443 - Social memory database with persistent person knowledge
2026-03-05 09:04:49 -05:00
saltybot_social_memory_node
feat: Add Issue #443 - Social memory database with persistent person knowledge
2026-03-05 09:04:49 -05:00
saltybot_social_msgs
feat: Add Issue #467 - Power management supervisor with battery protection
2026-03-05 14:34:37 -05:00
saltybot_social_nav
feat(social): navigation + follow modes + MiDaS depth + waypoints (Issue #91)
2026-03-01 23:15:00 -05:00
saltybot_social_personality
feat(social): personality system — SOUL.md persona, mood engine, relationship DB (Issue #84)
2026-03-01 23:56:05 -05:00
saltybot_social_tests
feat(tests): social-bot integration test suite (Issue #108)
2026-03-02 08:50:22 -05:00
saltybot_social_tracking
feat(social): multi-modal tracking fusion — UWB+camera Kalman filter (Issue #92)
2026-03-01 23:59:10 -05:00
saltybot_sound_effects
feat: sound effects library (Issue #457)
2026-03-05 09:19:21 -05:00
saltybot_speed_controller
feat: outdoor adaptive speed controller (saltybot_speed_controller)
2026-03-01 01:06:50 -05:00
saltybot_speed_limiter
feat: Add Issue #194 - Speed limiter node (50Hz safety constraints)
2026-03-02 11:14:10 -05:00
saltybot_surround
feat: 4x IMX219 surround vision + Nav2 camera obstacle layer (Phase 2c)
2026-02-28 23:19:23 -05:00
saltybot_tank_driver
feat(tank): SaltyTank tracked-vehicle ESC driver (Issue #122)
2026-03-02 09:14:37 -05:00
saltybot_terrain_adaptation
feat(#142): terrain adaptation — surface detection, speed/PID/bias adaptation
2026-03-02 10:04:36 -05:00
saltybot_terrain_classification
feat: Terrain classification for speed adaptation (Issue #469)
2026-03-06 16:43:21 -05:00
saltybot_terrain_msgs
feat(#142): terrain adaptation — surface detection, speed/PID/bias adaptation
2026-03-02 10:04:36 -05:00
saltybot_tests
feat: Integration test suite expanded (Issue #504) - resolve conflicts
2026-03-06 23:10:42 -05:00
saltybot_thermal
feat(jetson): CPU/GPU thermal monitor — sysfs + /saltybot/thermal JSON (Issue #205)
2026-03-02 11:21:18 -05:00
saltybot_tricks
feat: trick routines action server (Issue #431)
2026-03-05 08:53:55 -05:00
saltybot_tts_personality
fix: resolve merge conflicts for voice router PR #499 (keep both docking + mission logging)
2026-03-05 19:25:23 -05:00
saltybot_tts_service
feat: Issue #421 - Piper TTS service with queue + priority + Jabra output
2026-03-04 23:32:21 -05:00
saltybot_uwb
feat(uwb): MaUWB ESP32-S3 DW3000 dual-anchor bearing driver (Issue #90)
2026-03-01 23:25:08 -05:00
saltybot_uwb_msgs
feat(uwb): MaUWB ESP32-S3 DW3000 dual-anchor bearing driver (Issue #90)
2026-03-01 23:25:08 -05:00
saltybot_velocity_smoother
feat: Add velocity smoothing filter with Butterworth low-pass filtering
2026-03-03 00:23:53 -05:00
saltybot_vesc_driver
feat: Implement VESC UART driver node (Issue #383)
2026-03-04 07:05:46 -05:00
saltybot_visual_odom
feat(vo): visual odometry fallback — CUDA optical flow + EKF fusion + slip failover (Issue #157)
2026-03-02 10:15:32 -05:00
saltybot_voice_command
feat: Add VESC balance PID controller with tilt safety (Issue #407)
2026-03-04 22:40:40 -05:00
saltybot_voice_router
feat: Voice command router (Issue #491)
2026-03-05 17:05:02 -05:00
saltybot_wheel_slip_detector
feat(controls): Wheel slip detector (Issue #262)
2026-03-02 17:29:03 -05:00
saltybot_wifi_monitor
feat: WiFi mesh handoff - seamless AP roaming (Issue #458)
2026-03-05 09:20:42 -05:00
saltybot_wifi_msgs
feat: WiFi mesh handoff - seamless AP roaming (Issue #458)
2026-03-05 09:20:42 -05:00