alro65
e4812e9b44
Cherry-pick of ab28cb7 onto main (was missing from main branch history). Python: - arautopilot/core/sensor_config.py: RudderSensorConfig + DualRudderSensorConfig (AS5048A SPI / potentiometer, dual with cross-validation thresholds) - arautopilot/core/vessel_config.py: add sensors: DualRudderSensorConfig field - arautopilot/studio/compiler/appack.py: .appack compiler (ZIP with manifest.json + project.yaml + firmware_config.h + install_notes.txt) - arautopilot/studio/editors/project_editor.py: full project config editor (vessel / actuator / sensors / PID, RBAC-gated fields, save/load .yaml/.json) - arautopilot/studio/main_window.py: wire ProjectEditorWidget into Project tab - tests: test_sensor_config.py (11 tests) + test_appack_compiler.py (10 tests) Firmware: - hal/rudder_actuator_iface.h: IRudderActuator abstract interface - hal/rudder_actuator_hydraulic.h: reversible hydraulic pump (LEDC PWM) - hal/rudder_actuator_electric.h: reversible DC motor + deadband compensation - hal/rudder_actuator_factory.h: build-time type selection via AR_ACTUATOR_TYPE Tests: 483 passed (was 462, +21 Sprint 4) Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
111 lines
3.6 KiB
Python
111 lines
3.6 KiB
Python
"""Rudder angle sensor configuration.
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Supports single and dual (redundant) sensor setups. The primary sensor
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is mandatory for closed-loop operation. The redundant sensor is optional
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but strongly recommended for Phase-1 marine deployments.
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Sensor families supported in Phase 1:
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- ``AS5048A_SPI`` — contactless magnetic absolute encoder, 14-bit, SPI.
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Recommended for new installations (brief session 2026-05-18).
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- ``POTENTIOMETER`` — resistive potentiometer 0-10 V or 4-20 mA.
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Supported for legacy actuators.
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Both sensors use a polycarbonate linkage arm to the rudder stock, giving
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a proportional rotation to the rudder angle.
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"""
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from __future__ import annotations
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from enum import StrEnum
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from pydantic import BaseModel, ConfigDict, Field
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class RudderSensorType(StrEnum):
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AS5048A_SPI = "as5048a_spi"
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"""AMS AS5048A contactless magnetic encoder — 14-bit, SPI interface.
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No mechanical contact; requires diametrically magnetised 6 mm magnet
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on the rotating shaft. Recommended for all new Phase-1 installations."""
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POTENTIOMETER = "potentiometer"
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"""Resistive potentiometer with 0-10 V or 4-20 mA signal conditioning.
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Suitable for retrofit on existing actuators that already carry a pot."""
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class RudderSensorConfig(BaseModel):
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"""Configuration for one physical rudder angle sensor.
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The ``full_scale_deg`` / ``zero_offset_deg`` pair maps the electrical
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range of the sensor to real rudder degrees. Calibration during
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commissioning (Sprint 7) will update these values in NVS.
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"""
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model_config = ConfigDict(extra="forbid", validate_assignment=True)
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type: RudderSensorType
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"""Physical sensor technology."""
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label: str = Field(
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default="",
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max_length=60,
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description="Free-form label, e.g. 'Primary – rudder stock' or 'Redundant – actuator arm'.",
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)
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# SPI-specific (ignored for POTENTIOMETER)
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spi_cs_gpio: int = Field(
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default=10,
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ge=0,
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le=39,
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description="ESP32 GPIO pin used as SPI chip-select for AS5048A.",
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)
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# Calibration
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full_scale_deg: float = Field(
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default=35.0,
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gt=0.0,
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le=45.0,
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description="Rudder angle (degrees) corresponding to full electrical output.",
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)
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zero_offset_deg: float = Field(
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default=0.0,
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ge=-10.0,
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le=10.0,
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description="Offset applied after scaling to correct mechanical amidships misalignment.",
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)
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# Cross-validation (used by dual-sensor arbitrator)
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divergence_alarm_deg: float = Field(
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default=3.0,
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gt=0.0,
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le=15.0,
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description="Alarm threshold: raise SENSOR_DIVERGE if |A - B| exceeds this value.",
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)
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divergence_failover_deg: float = Field(
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default=6.0,
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gt=0.0,
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le=20.0,
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description="Failover threshold: switch to the other sensor if |A - B| exceeds this.",
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)
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class DualRudderSensorConfig(BaseModel):
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"""Primary + optional redundant rudder sensor pair.
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When ``redundant`` is ``None`` the system operates in single-sensor
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mode (feedback_required still enforced). When ``redundant`` is
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present the firmware enables cross-validation and automatic failover.
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Divergence thresholds are taken from the *primary* sensor's config so
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there is one canonical place to tune them.
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"""
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model_config = ConfigDict(extra="forbid", validate_assignment=True)
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primary: RudderSensorConfig
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redundant: RudderSensorConfig | None = None
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@property
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def has_redundancy(self) -> bool:
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return self.redundant is not None
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