alro65
295efa2d83
End-to-end implementation per docs/sprint-2-plan.md.
Builds: pio run -e esp32-dev SUCCESS, RAM 6.8%, Flash 26.8% (351 KB).
Tests: pytest 129/129 green (110 Sprint 1 + 19 Sprint 2).
Python (arautopilot/studio/simulator/):
- rudder_dynamics.py: marine-realistic physical model of a hydraulic
rudder actuator. Defaults tuned so 100 % PWM produces steady-state
v_max ~5 deg/s, matching the brief's "typical 3-6 dps" for a 30 m
yacht. Includes deadband, min-useful PWM snap, port/stbd asymmetry,
end-stops, optional external torque, RunRecorder helper.
- pid_inner.py: pure-Python reference PID. Anti-windup via back-
calculation, setpoint rate limit, setpoint deadband, derivative LPF,
actuator non-linearity compensation. This module is the algorithmic
source of truth; C++ firmware is a line-by-line port.
Firmware (firmware/ar_autopilot_v1/src/pid/):
- pid_inner.h: header-only C++17 controller, byte-equivalent port of
pid_inner.py. Compiles on ESP32 toolchain AND on host g++/clang/MSVC
(no Arduino dependencies) -- ready for native Unity cross-validation
once a host compiler is installed.
- pid_inner_task.{h,cpp}: FreeRTOS task wrapper. 50 Hz on Core 1
(real-time core). Subscribes to TWDT, bleeds integrator during
STANDBY, surfaces telemetry + tunables via the Modbus slave.
Modbus map (regenerated from YAML):
- 6 new INPUT registers (40-45): setpoint, output, error, kp/ki/kd live
- 4 new HOLDING registers (16-19): writable setpoint + kp/ki/kd req
(writes propagate atomically; zero kp rejected as ILLEGAL_DATA_VALUE)
Tests:
- test_rudder_simulator.py: 9 tests (zero-input rest, full deflection,
end-stop saturation, deadband, min-useful snap, asymmetry, recorder
API, invalid dt, end-stop velocity zeroing).
- test_pid_inner_python.py: 10 tests (positive/negative step response,
setpoint deadband holds, anti-windup bounds under saturation,
allowed=false bleeds integrator, actuator deadband + asymmetry
compensation, output saturation, rate limit, disturbance rejection).
NOT in Sprint 2 (intentional per brief sec. 12):
- Outer heading PID, gain scheduling by SOG, ROT feed-forward
(those land in Sprint 3)
- Cross-validation tests via ctypes (need host C++ compiler that
this Windows machine lacks; algorithmic parity enforced by review)
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
146 lines
3.4 KiB
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146 lines
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# ============================================================================
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# AR-Autopilot — .gitignore
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# ============================================================================
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# ----------------------------------------------------------------------------
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# Python
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# ----------------------------------------------------------------------------
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__pycache__/
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*.py[cod]
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*$py.class
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*.so
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.Python
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build/
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develop-eggs/
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dist/
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downloads/
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eggs/
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.eggs/
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lib/
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lib64/
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parts/
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sdist/
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var/
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wheels/
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share/python-wheels/
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*.egg-info/
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.installed.cfg
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*.egg
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MANIFEST
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# Virtual environments
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.venv/
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venv/
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env/
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ENV/
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.env
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# pytest / coverage / mypy / ruff
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.pytest_cache/
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.coverage
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.coverage.*
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htmlcov/
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.tox/
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.nox/
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coverage.xml
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*.cover
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.hypothesis/
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.mypy_cache/
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.dmypy.json
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dmypy.json
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.ruff_cache/
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# Jupyter
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.ipynb_checkpoints/
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# ----------------------------------------------------------------------------
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# Flutter / Dart (display app)
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# ----------------------------------------------------------------------------
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display/.dart_tool/
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display/.flutter-plugins
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display/.flutter-plugins-dependencies
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display/.packages
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display/.pub-cache/
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display/.pub/
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display/build/
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display/**/build/
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display/**/.dart_tool/
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display/**/.idea/
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display/**/*.iml
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display/ios/Pods/
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display/ios/.symlinks/
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display/android/.gradle/
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display/android/local.properties
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display/android/captures/
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display/android/gradlew
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display/android/gradlew.bat
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display/android/gradle-wrapper.jar
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display/windows/flutter/ephemeral/
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display/linux/flutter/ephemeral/
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display/macos/Flutter/ephemeral/
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# ----------------------------------------------------------------------------
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# PlatformIO / ESP32 firmware
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# ----------------------------------------------------------------------------
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firmware/**/.pio/
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firmware/**/.pioenvs/
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firmware/**/.piolibdeps/
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firmware/**/.vscode/
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firmware/**/.clang_complete
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firmware/**/.gcc-flags.json
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# ----------------------------------------------------------------------------
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# IDEs / Editors
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# ----------------------------------------------------------------------------
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.idea/
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.vscode/
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*.swp
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*.swo
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*~
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.project
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.pydevproject
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.settings/
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# ----------------------------------------------------------------------------
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# OS files
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# ----------------------------------------------------------------------------
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.DS_Store
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Thumbs.db
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Desktop.ini
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*.lnk
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# ----------------------------------------------------------------------------
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# Build artifacts / installers
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# ----------------------------------------------------------------------------
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installer/output/
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installer/build/
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*.msi
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*.exe
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*.appack
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# ----------------------------------------------------------------------------
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# Local config / secrets
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# ----------------------------------------------------------------------------
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*.local.yaml
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*.local.json
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secrets/
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.env.local
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.secrets/
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# ----------------------------------------------------------------------------
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# Examples output
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# ----------------------------------------------------------------------------
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examples/output/
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# ----------------------------------------------------------------------------
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# Logs
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# ----------------------------------------------------------------------------
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*.log
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logs/
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# ----------------------------------------------------------------------------
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# Claude Code local settings + worktrees (personal — not committed)
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# ----------------------------------------------------------------------------
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.claude/settings.local.json
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.claude/worktrees/
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