alro65
e4812e9b44
sprint-4: Project Editor + .appack compiler + IRudderActuator HAL + dual sensor config
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>