libstp::autotune Namespace Reference

Namespaces
namespace	control

Classes
struct	AutoTuneConfig
	Aggregated configuration for the full auto-tune pipeline. More...
struct	AutoTuneResult
	Aggregated results of the auto-tune pipeline. More...
class	AutoTuner
	Orchestrates the full auto-tune pipeline in a single C++ entry point so phase-to-phase state coherence is guaranteed. More...
struct	BemfVelocityConfig
	Configuration for BemfVelocityTuner. More...
struct	BemfVelocityPoint
	One measurement window at a single PWM level. More...
struct	BemfMotorFit
	Per-motor fit + linearity diagnostics across the speed sweep. More...
struct	BemfVelocityResult
	Full result of a BEMF→velocity calibration run. More...
class	BemfVelocityTuner
	Calibrate per-motor ticks_to_rad (BEMF→rad) against the external calibration board, fully automatically. More...
class	DriveCharacterizer
	Characterizes a robot's physical drive limits at raw motor power. More...
class	EncoderCalibrator
	Calibrate per-motor ticks_to_rad using the IMU heading as ground truth. More...
class	FirmwarePidTuner
	Tunes the per-motor firmware-side velocity PID (STM32 MAV mode). More...
class	MotionTuner
	Tunes motion PID gains (distance, lateral, heading) via Hooke-Jeeves coordinate descent. More...
struct	OdometrySnapshot
class	StaticFrictionMeasurer
	Per-motor static-friction (kS) measurement. More...
struct	AxisResult
	Measured physical limits for a single chassis axis. More...
struct	CharacterizeConfig
	Configuration for the DriveCharacterizer. More...
struct	StepResponseData
	Raw step-response recording for one velocity axis. More...
struct	PlantParams
	First-order-plus-dead-time (FOPDT) plant parameters extracted from a step-response recording. More...
struct	VelocityTuneResult
	Result of tuning a single velocity axis. More...
struct	VelocityTuneConfig
	Configuration for the VelocityTuner. More...
struct	MotionTuneResult
	Result of tuning a single motion PID parameter (distance, lateral, or heading). More...
struct	MotionTuneConfig
	Configuration for the MotionTuner (Hooke-Jeeves coordinate descent). More...
struct	FirmwarePidConfig
	Configuration for the FirmwarePidTuner. More...
struct	FirmwarePidResult
	Result of tuning a single motor's firmware-side velocity PID. More...
struct	StaticFrictionConfig
	Configuration for the StaticFrictionMeasurer. More...
struct	StaticFrictionSample
	One PWM-vs-BEMF sample taken during a static-friction sweep. More...
struct	StaticFrictionResult
	Per-motor static-friction measurement result (kS in PWM percent). More...
struct	VelLpfConfig
	Configuration for the VelLpfTuner (encoder-velocity LPF alpha). More...
struct	VelLpfSweepPoint
	One point of the alpha sweep: the score (and its parts) the candidate alpha achieved on the captured raw BEMF series. More...
struct	VelLpfResult
	Per-motor LPF-alpha tuning result. More...
struct	ToleranceConfig
	Configuration for deriveTolerances(). More...
struct	ToleranceResult
	Result of deriveTolerances(): the derived tolerances and flags indicating which UnifiedMotionPidConfig fields were updated. More...
struct	EncoderCalConfig
	Configuration for the EncoderCalibrator. More...
struct	EncoderCalResult
	Encoder calibration result. More...
class	VelLpfTuner
	Tunes the per-motor encoder-velocity LPF alpha (MotorCalibration::vel_lpf_alpha). More...
class	VelocityTuner
	Tunes per-axis velocity PID gains via step-response identification. More...

Functions
ToleranceResult	deriveTolerances (const std::map< std::string, MotionTuneResult > &tune_results, const MotionTuneConfig &tune_config, motion::UnifiedMotionPidConfig &motion_config, const ToleranceConfig &cfg={})
	Derive realistic motion tolerances from MotionTuner results.

Function Documentation

deriveTolerances()

ToleranceResult libstp::autotune::deriveTolerances	(	const std::map< std::string, MotionTuneResult > &	tune_results,
		const MotionTuneConfig &	tune_config,
		motion::UnifiedMotionPidConfig &	motion_config,
		const ToleranceConfig &	cfg = {} )

Derive realistic motion tolerances from MotionTuner results.

Pure computation — no hardware interaction. Takes the per-parameter tuning scores, recovers a representative error magnitude per parameter, scales by cfg.margin_factor, clamps into the configured limits, and writes the result back to motion_config.

The recovery is:

error_estimate = final_score / (score_error_weight + epsilon)

which inverts the dominant score_error_weight * error term that the MotionTuner uses when computing the composite score.

Parameters

tune_results	Map of MotionTuner outputs keyed by param name. "distance" / "lateral" feed distance_tolerance_m; "heading" feeds angle_tolerance_rad.
tune_config	The MotionTuneConfig used to produce tune_results (needed for score_error_weight).
motion_config	Motion PID config to update in place.
cfg	Tolerance derivation configuration.

Returns

The derived tolerances and which fields were actually updated.