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>
46 lines
1.3 KiB
YAML
46 lines
1.3 KiB
YAML
# =============================================================================
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# Default PID tuning — 40 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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# Scaled from the 30 m profile to account for the larger vessel: higher mass
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# moment of inertia and longer time constants. Compared to the 30 m profile:
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# - kp slightly lower (slower response per unit rudder)
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# - kd slightly higher (more anticipation needed for the inertia)
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# - setpoint_rate_limit_dps reduced (gentler heading slew)
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#
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# As with the 30 m profile, these are commissioning starting points and
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# must be replaced with the integrator's production tuning.
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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: 2.20
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ki: 0.12
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kd: 0.35
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inner_loop_freq_hz: 50.0
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outer_loop_base:
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kp: 0.75
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ki: 0.015
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kd: 1.55
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outer_loop_freq_hz: 10.0
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gain_schedule:
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- speed_knots: 5.0
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gains: { kp: 1.00, ki: 0.025, kd: 1.10 }
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- speed_knots: 15.0
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gains: { kp: 0.75, ki: 0.015, kd: 1.55 }
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- speed_knots: 28.0
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gains: { kp: 0.45, ki: 0.008, kd: 2.20 }
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rot_feedforward_gain: 1.80
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setpoint_deadband_deg: 0.5
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setpoint_rate_limit_dps: 3.0
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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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