alro65
700756c16f
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>
59 lines
1.9 KiB
YAML
59 lines
1.9 KiB
YAML
# =============================================================================
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# Default PID tuning — 30 m planing motor yacht
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# =============================================================================
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#
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# WARNING — Conservative bench/start values only.
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# These gains come from classical marine control literature (Fossen 2011,
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# Perez 2005) scaled to a 30 m planing motor yacht class. They are intended
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# only for bench testing and the very first sea trial — they MUST be replaced
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# with the integrator's affinated values during commissioning.
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#
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# The "real" tuning libraries are integrator IP and are NOT shipped here.
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#
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# Units:
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# - kp/ki/kd: dimensionless (controller internal units)
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# - frequencies: Hz
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# - rate / deadband: degrees, degrees/second
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#
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# Cascaded loops (brief section 6):
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# - inner: rudder-position controller, 50 Hz
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# - outer: heading controller, 10 Hz
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#
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# Gain scheduling: outer-loop gains interpolated over SOG (knots).
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# Outside the scheduled range the closest endpoint is held.
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# =============================================================================
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schema_version: "0.1.0"
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inner_loop_base:
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kp: 2.5
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ki: 0.15
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kd: 0.30
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inner_loop_freq_hz: 50.0
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outer_loop_base:
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kp: 0.90
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ki: 0.02
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kd: 1.20
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outer_loop_freq_hz: 10.0
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# Three-point schedule covering manoeuvring (5 kn), cruise (15 kn), top (28 kn).
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# At low speed: more kp, less kd (rudder bites more, less inertia anticipation).
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# At high speed: less kp, more kd (gentler corrections, anticipate overshoot).
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gain_schedule:
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- speed_knots: 5.0
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gains: { kp: 1.20, ki: 0.03, kd: 0.80 }
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- speed_knots: 15.0
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gains: { kp: 0.90, ki: 0.02, kd: 1.20 }
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- speed_knots: 28.0
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gains: { kp: 0.55, ki: 0.01, kd: 1.80 }
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rot_feedforward_gain: 1.50
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setpoint_deadband_deg: 0.5
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setpoint_rate_limit_dps: 4.0
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anti_windup_limit: 8.0
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adaptive_enabled: false
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adaptive_max_deviation_pct: 50.0
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