sl-firmware
fa75c442a7
Archive STM32 firmware to legacy/stm32/: - src/, include/, lib/USB_CDC/, platformio.ini, test stubs, flash_firmware.py - test/test_battery_adc.c, test_hw_button.c, test_pid_schedule.c, test_vesc_can.c, test_can_watchdog.c - USB_CDC_BUG.md Rename: stm32_protocol → esp32_protocol, mamba_protocol → balance_protocol, stm32_cmd_node → esp32_cmd_node, stm32_cmd_params → esp32_cmd_params, stm32_cmd.launch.py → esp32_cmd.launch.py, test_stm32_protocol → test_esp32_protocol, test_stm32_cmd_node → test_esp32_cmd_node Content cleanup across all files: - Mamba F722S → ESP32-S3 BALANCE - BlackPill → ESP32-S3 IO - STM32F722/F7xx → ESP32-S3 - stm32Mode/Version/Port → esp32Mode/Version/Port - STM32 State/Mode labels → ESP32 State/Mode - Jetson Nano → Jetson Orin Nano Super - /dev/stm32 → /dev/esp32 - stm32_bridge → esp32_bridge - STM32 HAL → ESP-IDF docs/SALTYLAB.md: - Update "Drone FC Details" to describe ESP32-S3 BALANCE board (Waveshare ESP32-S3 Touch LCD 1.28) - Replace verbose "Self-Balancing Control" STM32 section with brief note pointing to SAUL-TEE-SYSTEM-REFERENCE.md TEAM.md: Update Embedded Firmware Engineer role to ESP32-S3 / ESP-IDF No new functionality — cleanup only. Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
56 lines
2.2 KiB
Markdown
56 lines
2.2 KiB
Markdown
# Nav2 Recovery Behaviors Configuration
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**Issue #479**: Configure conservative recovery behaviors for SaltyBot autonomous navigation.
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## Overview
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Recovery behaviors are triggered when Nav2 encounters navigation failures (path following failures, stuck detection, etc.). The recovery system attempts multiple strategies before giving up.
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## Configuration Details
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### Backup Recovery (Issue #479)
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- **Distance**: 0.3 meters reverse
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- **Speed**: 0.1 m/s (very conservative for FC + Hoverboard ESC)
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- **Max velocity**: 0.15 m/s (absolute limit)
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- **Time limit**: 5 seconds maximum
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### Spin Recovery
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- **Angle**: 1.57 radians (90°)
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- **Max angular velocity**: 0.5 rad/s (conservative for self-balancing robot)
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- **Min angular velocity**: 0.25 rad/s
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- **Angular acceleration**: 1.6 rad/s² (half of normal to ensure smooth motion)
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- **Time limit**: 10 seconds
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### Wait Recovery
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- **Duration**: 5 seconds
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- **Purpose**: Allow dynamic obstacles (people, other robots) to clear the path
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### Progress Checker (Issue #479)
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- **Minimum movement threshold**: 0.2 meters (20 cm)
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- **Time window**: 10 seconds
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- **Behavior**: If the robot doesn't move 20cm in 10 seconds, trigger recovery sequence
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## Safety: E-Stop Priority (Issue #459)
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The emergency stop system (Issue #459, `saltybot_emergency` package) runs independently of Nav2 and takes absolute priority.
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<<<<<<< HEAD
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Recovery behaviors cannot interfere with E-stop because the emergency system operates at the motor driver level on the ESP32 BALANCE firmware.
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=======
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Recovery behaviors cannot interfere with E-stop because the emergency system operates at the motor driver level on the ESP32-S3 firmware.
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>>>>>>> 291dd68 (feat: remove all STM32/Mamba/BlackPill references — ESP32-S3 only)
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## Behavior Tree Sequence
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Recovery runs in a round-robin fashion with up to 6 retry cycles.
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## Constraints for FC + Hoverboard ESC
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This configuration is specifically tuned for:
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- **Drivetrain**: Flux Capacitor (FC) balancing controller + Hoverboard brushless ESC
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- **Max linear velocity**: 1.0 m/s
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- **Max angular velocity**: 1.5 rad/s
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- **Recovery velocity constraints**: 50% of normal for stability
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The conservative recovery speeds ensure smooth deceleration profiles on the self-balancing drivetrain without tipping or oscillation.
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