sl-controls 71b46f51d5 feat: PID tuning interface via CAN/ROS2 (Issue #693) ...

- Mamba (STM32): add ORIN_CAN_ID_PID_SET (0x305) handler in orin_can.c.
  Receives kp/ki/kd as uint16*100 (BE), applies to running balance loop,
  replies with FC_PID_ACK (0x405) echoing clamped gains. Gains persist in
  RAM until reboot; not saved to flash.
- Jetson: expose pid/kp, pid/ki, pid/kd as ROS2 parameters in
  can_bridge_node. Parameter changes trigger encode_pid_set_cmd() and
  send CAN frame 0x305 immediately. ACK frame 0x405 logged at DEBUG.
- mamba_protocol.py: add ORIN_CAN_ID_PID_SET / FC_PID_ACK IDs,
  PidGains dataclass, encode_pid_set_cmd(), decode_pid_ack().

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

2026-03-20 16:38:09 -04:00

.claude/plans

feat: Add Issue #467 - Power management supervisor with battery protection

2026-03-05 14:34:37 -05:00

.gitea/workflows

feat(tests): social-bot integration test suite (Issue #108)

2026-03-02 08:50:22 -05:00

.pio/build

feat: motor bench test working — UART5 ESC + USART6 Jetson + W command

2026-03-06 22:35:24 -05:00

cad

chore: merge CAD files and design docs from seb/saltylab seed repo

2026-03-07 10:04:24 -05:00

chassis

feat: CANable 2.0 mount for T-slot rail (Issue #654)

2026-03-17 11:33:06 -04:00

docs

chore: merge CAD files and design docs from seb/saltylab seed repo

2026-03-07 10:04:24 -05:00

esp32

feat: Add AT+PEER_RANGE= command for inter-anchor calibration (Issue #602)

2026-03-14 15:06:29 -04:00

include

feat: PID tuning interface via CAN/ROS2 (Issue #693)

2026-03-20 16:38:09 -04:00

jetson

feat: PID tuning interface via CAN/ROS2 (Issue #693)

2026-03-20 16:38:09 -04:00

lib/USB_CDC

feat: IMU mount angle cal, CAN telemetry, LED override (Issues #680, #672, #685)

2026-03-17 22:49:21 -04:00

phone

feat: Add Termux voice command interface (Issue #633)

2026-03-15 14:35:27 -04:00

projects/saltybot

feat: outdoor nav — OSM routing + GPS waypoints + geofence (#59)

2026-03-01 00:52:54 -05:00

scripts

feat(firmware): OTA DFU entry via JLink command and Python flash script (Issue #124)

2026-03-02 09:56:18 -05:00

src

feat: PID tuning interface via CAN/ROS2 (Issue #693)

2026-03-20 16:38:09 -04:00

test

feat: BME280 baro pressure & ambient temp driver (Issue #672)

2026-03-18 08:25:07 -04:00

ui

feat: CAN sensor remote monitor panel (Issue #681)

2026-03-18 08:09:03 -04:00

.DS_Store

feat: rosbridge WebSocket server for web UI (port 9090)

2026-03-01 00:22:02 -05:00

AUTONOMOUS_ARMING.md

feat: Remove ELRS arm requirement for autonomous operation (Issue #512)

2026-03-06 11:46:03 -05:00

CLAUDE.md

docs: multi-variant branch strategy (issue #28)

2026-02-28 18:49:41 -05:00

flash.sh

Balance firmware + USB CDC bug

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

platformio.ini

feat: IMU mount angle cal, CAN telemetry, LED override (Issues #680, #672, #685)

2026-03-17 22:49:21 -04:00

TEAM.md

Add USB CDC bug doc and team requirements

2026-02-28 11:59:53 -05:00

USB_CDC_BUG.md

fix: Investigate USB CDC TX failure (Issue #524)

2026-03-06 23:01:00 -05:00

Description

SaltyLab self-balancing bot firmware (STM32F722)

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