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>
alro65
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