AR-Autopilot

alro65/AR-Autopilot

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Author	SHA1	Message	Date
alro65	5f9b445572	sprint-7: Commissioning wizard + relay ZN auto-tuner + NVS config + knob encoder Python: - autotuner.py: RelayAutoTuner (Astrom-Hagglund relay method) → TunerResult with Ku/Tu; TunerResult.to_pid_gains() applies ZN formulas - commissioning_wizard.py: 4-phase state machine (RUDDER_LIMITS → SENSOR_CAL → AUTO_TUNE → DONE); transport-injected for testability; abort on invalid cal - test_autotuner.py: 17 tests covering relay convergence, ZN formulas, wizard full-run, abort, ADC swap, identical-ADC guard Firmware: - nvs_config.h/cpp: NVS-backed CalibrationData store (adc limits, rudder angles, outer Kp/Ki/Kd, commissioned flag); float stored as uint32 via memcpy - knob_encoder.h/cpp: quadrature rotary encoder on GPIO 16/17 with ISR Gray-code decode; knob_arm coil arms for 5 s window; updates heading setpoint ±1 deg/detent - modbus_slave.cpp: COIL_CMD_KNOB_ARM now calls knob_encoder_set_armed() - main.cpp: nvs_config_init/load at boot; apply commissioned calibration to rudder sensor and outer loop gains; start knob encoder task Tests: 326 passed \| Flash: 28.5% Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>	2026-05-20 02:55:26 -04:00
alro65	700756c16f	sprint-0: foundations -- data model, seed library, tests, demo Initial commit. Delivers what the brief calls 'Sprint 0 - Foundations' (see docs/AR_Autopilot_brief.md section 12): - Complete repository structure (arautopilot package + firmware, display, installer, tools placeholders + docs). - Core data model (Pydantic v2): modes, alarms, actuator config, PID config + gain scheduling, vessel config, knob state machine, project config with YAML/JSON serialisation. - Seed library: 2 actuator profiles (hydraulic & electric DC reversible) and 2 default tunings (yacht motor planeo 30 m and 40 m). Conservative literature values, NOT the integrator's production tuning IP. - Firmware skeleton: only src/hal/pinout.h with the 21 I/O contract for the AR-NMEA-IO v1.0 board. No drivers, no main loop. - Studio stubs (real PySide6 app starts in Sprint 4). - pytest suite (80 tests, all green): modes, alarms, actuator, PID (incl. gain interpolation and the +/-50% adaptive bound from brief section 6), vessel, knob state, project config, library loader, end-to-end roundtrip. - examples/sprint0_demo.py - the acceptance demo from the brief. Acceptance criteria met: - pytest green (80/80) - demo creates, saves (YAML + JSON), reloads, and verifies a full ProjectConfig using the seed library - repository ready for tag `sprint-0-approved` See CHANGELOG.md for the detailed scope. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>	2026-05-17 23:57:18 -04:00

Author

SHA1

Message

Date

alro65

5f9b445572

sprint-7: Commissioning wizard + relay ZN auto-tuner + NVS config + knob encoder

Python:
- autotuner.py: RelayAutoTuner (Astrom-Hagglund relay method) → TunerResult
  with Ku/Tu; TunerResult.to_pid_gains() applies ZN formulas
- commissioning_wizard.py: 4-phase state machine (RUDDER_LIMITS → SENSOR_CAL
  → AUTO_TUNE → DONE); transport-injected for testability; abort on invalid cal
- test_autotuner.py: 17 tests covering relay convergence, ZN formulas,
  wizard full-run, abort, ADC swap, identical-ADC guard

Firmware:
- nvs_config.h/cpp: NVS-backed CalibrationData store (adc limits, rudder angles,
  outer Kp/Ki/Kd, commissioned flag); float stored as uint32 via memcpy
- knob_encoder.h/cpp: quadrature rotary encoder on GPIO 16/17 with ISR Gray-code
  decode; knob_arm coil arms for 5 s window; updates heading setpoint ±1 deg/detent
- modbus_slave.cpp: COIL_CMD_KNOB_ARM now calls knob_encoder_set_armed()
- main.cpp: nvs_config_init/load at boot; apply commissioned calibration to
  rudder sensor and outer loop gains; start knob encoder task

Tests: 326 passed | Flash: 28.5%

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

2026-05-20 02:55:26 -04:00

alro65

700756c16f

sprint-0: foundations -- data model, seed library, tests, demo

Initial commit. Delivers what the brief calls 'Sprint 0 - Foundations'
(see docs/AR_Autopilot_brief.md section 12):

- Complete repository structure (arautopilot package + firmware, display,
  installer, tools placeholders + docs).
- Core data model (Pydantic v2): modes, alarms, actuator config, PID
  config + gain scheduling, vessel config, knob state machine, project
  config with YAML/JSON serialisation.
- Seed library: 2 actuator profiles (hydraulic & electric DC reversible)
  and 2 default tunings (yacht motor planeo 30 m and 40 m). Conservative
  literature values, NOT the integrator's production tuning IP.
- Firmware skeleton: only src/hal/pinout.h with the 21 I/O contract for
  the AR-NMEA-IO v1.0 board. No drivers, no main loop.
- Studio stubs (real PySide6 app starts in Sprint 4).
- pytest suite (80 tests, all green): modes, alarms, actuator, PID
  (incl. gain interpolation and the +/-50% adaptive bound from brief
  section 6), vessel, knob state, project config, library loader,
  end-to-end roundtrip.
- examples/sprint0_demo.py - the acceptance demo from the brief.

Acceptance criteria met:
- pytest green (80/80)
- demo creates, saves (YAML + JSON), reloads, and verifies a full
  ProjectConfig using the seed library
- repository ready for tag `sprint-0-approved`

See CHANGELOG.md for the detailed scope.

Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>

2026-05-17 23:57:18 -04:00

2 Commits