libstp::autotune::FirmwarePidTuner Class Reference

Tunes the per-motor firmware-side velocity PID (STM32 MAV mode). More...

#include <firmware_pid_tune.hpp>

Public Member Functions
	FirmwarePidTuner (const std::vector< hal::motor::IMotor * > &motors, hal::imu::IIMU *imu=nullptr)
FirmwarePidResult	tuneMotor (hal::motor::IMotor *motor, int max_bemf_speed, const FirmwarePidConfig &cfg) const
	Tune a single motor.
std::map< int, FirmwarePidResult >	tune (const std::map< int, int > &max_bemf_speeds, const FirmwarePidConfig &cfg) const
	Tune every motor passed at construction.

Detailed Description

Tunes the per-motor firmware-side velocity PID (STM32 MAV mode).

For each motor the tuner records a baseline step response in BEMF units, fits a FOPDT plant model, derives CHR PID gains, pushes them to the firmware via IMotor::setFirmwarePidGains() and re-runs the step response. Gains are accepted only if the tuned ISE is strictly smaller than the baseline ISE.

Note

FirmwarePidTuner holds non-owning pointers to the supplied motors; the caller must ensure each motor outlives the tuner.

Definition at line 25 of file firmware_pid_tune.hpp.

Constructor & Destructor Documentation

FirmwarePidTuner()

libstp::autotune::FirmwarePidTuner::FirmwarePidTuner ( const std::vector< hal::motor::IMotor * > & motors, hal::imu::IIMU * imu = nullptr )

explicit

Parameters

motors	Non-owning list of motors to tune.
imu	Optional IMU pointer — when non-null, every CSV dump includes the gyro/accel/heading readings sampled in the same tight loop as the motors.

Member Function Documentation

tune()

std::map< int, FirmwarePidResult > libstp::autotune::FirmwarePidTuner::tune ( const std::map< int, int > & max_bemf_speeds, const FirmwarePidConfig & cfg ) const

nodiscard

Tune every motor passed at construction.

Motors without an entry in max_bemf_speeds are skipped with a warning.

Parameters

max_bemf_speeds	Map from port -> max BEMF speed.
cfg	Shared tuning configuration.

Returns

Map from port -> tuning result.

tuneMotor()

FirmwarePidResult libstp::autotune::FirmwarePidTuner::tuneMotor ( hal::motor::IMotor * motor, int max_bemf_speed, const FirmwarePidConfig & cfg ) const

nodiscard

Tune a single motor.

Parameters

motor	Motor to tune.
max_bemf_speed	Steady-state BEMF (firmware velocity units) at full power for this motor — typically derived from a DriveCharacterizer-style sweep.
cfg	Tuning configuration.

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The documentation for this class was generated from the following file:

• /home/runner/work/raccoon-lib/raccoon-lib/modules/libstp-autotune/include/autotune/firmware_pid_tune.hpp