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sprint-5: True Course + Track Keeping + XTE + PGN 129026/129284

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- Python: NmeaNavData (COG/SOG/XTE data models with staleness tracking)
- Python: TrueCoursePilot with TRUE_COURSE and TRACK_KEEPING modes
- Python: 26 new tests (test_nmea_data, test_true_course)
- Modbus: COG/SOG/XTE input registers + TC setpoint/XTE-gain holdings
- Firmware: nmea2000_consumer handles PGN 129026 + 129284
- Firmware: pid_outer_task wired for TC + TK modes with live SOG scheduling
- YAML regenerated; 284 tests pass, firmware compiles clean

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
This commit is contained in:
Alvaro Enrique Romero Donado
2026-05-19 20:12:57 -04:00
parent 0be60c5161
commit 0f00ad10da
12 changed files with 1051 additions and 101 deletions
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arautopilot/shared/modbus_register_map.py
+9
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@@ -91,6 +91,12 @@ INPUTS: dict[str, Reg] = {
"PID_OUTER_KP_X1000": Reg(addr=54, name="PID_OUTER_KP_X1000", desc='Outer-loop active kp * 1000', unit="", scale=0.001, offset=0.0),
"PID_OUTER_KI_X1000": Reg(addr=55, name="PID_OUTER_KI_X1000", desc='Outer-loop active ki * 1000', unit="", scale=0.001, offset=0.0),
"PID_OUTER_KD_X1000": Reg(addr=56, name="PID_OUTER_KD_X1000", desc='Outer-loop active kd * 1000', unit="", scale=0.001, offset=0.0),
"COG_DEG_X100": Reg(addr=60, name="COG_DEG_X100", desc='Course Over Ground (true) from PGN 129026, deg*100 (0..35999)', unit="deg", scale=0.01, offset=0.0),
"SOG_KN_X10": Reg(addr=61, name="SOG_KN_X10", desc='Speed Over Ground from PGN 129026, knots*10 (unsigned)', unit="kn", scale=0.1, offset=0.0),
"COG_AGE_MS": Reg(addr=62, name="COG_AGE_MS", desc='Milliseconds since last COG/SOG update (0..60000)', unit="ms", scale=1.0, offset=0.0),
"XTE_DM_SIGNED": Reg(addr=63, name="XTE_DM_SIGNED", desc='Cross Track Error from PGN 129284, decimetres (signed int16, +stbd/-port)', unit="dm", scale=0.1, offset=0.0),
"XTE_AGE_MS": Reg(addr=64, name="XTE_AGE_MS", desc='Milliseconds since last XTE update (0..60000)', unit="ms", scale=1.0, offset=0.0),
"DTW_M": Reg(addr=65, name="DTW_M", desc='Distance to next waypoint, metres (unsigned int16, 0..65535)', unit="m", scale=1.0, offset=0.0),
}
# HOLDINGS
@@ -109,6 +115,9 @@ HOLDINGS: dict[str, Reg] = {
"PID_OUTER_KP_REQ_X1000": Reg(addr=26, name="PID_OUTER_KP_REQ_X1000", desc='Requested outer-loop base kp * 1000', unit="", scale=0.001, offset=0.0),
"PID_OUTER_KI_REQ_X1000": Reg(addr=27, name="PID_OUTER_KI_REQ_X1000", desc='Requested outer-loop base ki * 1000', unit="", scale=0.001, offset=0.0),
"PID_OUTER_KD_REQ_X1000": Reg(addr=28, name="PID_OUTER_KD_REQ_X1000", desc='Requested outer-loop base kd * 1000', unit="", scale=0.001, offset=0.0),
"TRUE_COURSE_SP_X100": Reg(addr=32, name="TRUE_COURSE_SP_X100", desc='Desired COG setpoint for TRUE_COURSE / TRACK_KEEPING, deg*100 (0..35999)', unit="deg", scale=0.01, offset=0.0),
"XTE_GAIN_X1000": Reg(addr=33, name="XTE_GAIN_X1000", desc='XTE correction gain * 1000 (deg of heading correction per metre of XTE)', unit="", scale=0.001, offset=0.0),
"XTE_MAX_CORRECTION_X100": Reg(addr=34, name="XTE_MAX_CORRECTION_X100", desc='Maximum XTE heading correction, deg*100 (default 2000 = 20 deg)', unit="deg", scale=0.01, offset=0.0),
}
ALL_GROUPS: dict[str, dict[str, Reg]] = {