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sl-controls 1c95243e52 feat: gyro bias calibration on boot — fixes yaw drift (issues #21 , #23 )

On boot, before the main loop, sample 1000 gyro readings (~1s) while
board is held still. Compute per-axis mean offset (sensor-frame raw LSBs)
and subtract from all subsequent readings in mpu6000_read().

- mpu6000_calibrate(): LED1+LED2 solid ON during 1s sample window,
  resets filter state to zero once bias is known
- mpu6000_is_calibrated(): gate; main loop blocks arming and USB
  streaming until calibration completes
- Bias subtracted in sensor frame before CW270 axis transform + scale,
  so all three axes (pitch/roll/yaw rate) benefit
- config.h: GYRO_CAL_SAMPLES=1000
- No flash storage — recalibrate fresh each boot (bias varies with temp)

Closes #21 (3.5°/s yaw drift), #23 (gyro bias calibration on boot).

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

2026-02-28 17:42:34 -05:00

.pio/build

Balance firmware + USB CDC bug

2026-02-28 11:58:23 -05:00

chassis

feat: vertical stem architecture — compact baseplate + battery carousel

2026-02-28 14:57:30 -05:00

include

feat: gyro bias calibration on boot — fixes yaw drift (issues #21 , #23 )

2026-02-28 17:42:34 -05:00

jetson

Merge pull request 'feat(bd-a2j): Sensor driver integration — RealSense D435i + RPLIDAR A1M8' (#17 ) from sl-perception/bd-a2j-sensor-drivers into main