Configuration for the VelocityTuner. More...

#include <types.hpp>

Public Attributes
double	step_duration_s {2.0}
	Duration of each step-response recording in seconds.
double	step_command_frac {0.50}
	Fraction of max_velocity used as the step command (0–1).
int	sample_hz {200}
	Step-response sampling rate in Hz.
double	chr_kp_scale {0.3}
double	chr_ki_scale {0.6}
double	chr_kd_scale {0.15}
double	min_response_frac {0.10}
	Tail response must exceed this fraction of \|command\| to accept.
double	low_dead_time_ratio {0.05}
	Tu/Tg below this → skip CHR (near-integrator / very fast plant).
double	low_dead_time_gain_tol {0.15}
	\|Ks - 1\| tolerance accompanying the low-dead-time early-return.
double	gain_min {0.3}
	Clamp range for the calibrated per-axis command gain (1/Ks).
double	gain_max {3.0}
double	republish_settle_s {0.4}
	Settle time (s) after re-publishing the kinematics config to the STM32.
double	steady_state_frac {0.5}
	Fraction of the run (from the end) used to fit steady-state velocity.

Detailed Description

Configuration for the VelocityTuner.

Definition at line 105 of file types.hpp.

Member Data Documentation

◆ chr_kd_scale

double libstp::autotune::VelocityTuneConfig::chr_kd_scale {0.15}

Definition at line 117 of file types.hpp.

◆ chr_ki_scale

double libstp::autotune::VelocityTuneConfig::chr_ki_scale {0.6}

Definition at line 116 of file types.hpp.

◆ chr_kp_scale

double libstp::autotune::VelocityTuneConfig::chr_kp_scale {0.3}

Definition at line 115 of file types.hpp.

◆ gain_max

double libstp::autotune::VelocityTuneConfig::gain_max {3.0}

Definition at line 130 of file types.hpp.

◆ gain_min

double libstp::autotune::VelocityTuneConfig::gain_min {0.3}

Clamp range for the calibrated per-axis command gain (1/Ks).

Definition at line 129 of file types.hpp.

◆ low_dead_time_gain_tol

double libstp::autotune::VelocityTuneConfig::low_dead_time_gain_tol {0.15}

|Ks - 1| tolerance accompanying the low-dead-time early-return.

Definition at line 125 of file types.hpp.

◆ low_dead_time_ratio

double libstp::autotune::VelocityTuneConfig::low_dead_time_ratio {0.05}

Tu/Tg below this → skip CHR (near-integrator / very fast plant).

Definition at line 123 of file types.hpp.

◆ min_response_frac

double libstp::autotune::VelocityTuneConfig::min_response_frac {0.10}

Tail response must exceed this fraction of |command| to accept.

Definition at line 121 of file types.hpp.

◆ republish_settle_s

double libstp::autotune::VelocityTuneConfig::republish_settle_s {0.4}

Settle time (s) after re-publishing the kinematics config to the STM32.

Definition at line 132 of file types.hpp.

◆ sample_hz

int libstp::autotune::VelocityTuneConfig::sample_hz {200}

Step-response sampling rate in Hz.

Definition at line 112 of file types.hpp.

◆ steady_state_frac

double libstp::autotune::VelocityTuneConfig::steady_state_frac {0.5}

Fraction of the run (from the end) used to fit steady-state velocity.

Definition at line 134 of file types.hpp.

◆ step_command_frac

double libstp::autotune::VelocityTuneConfig::step_command_frac {0.50}

Fraction of max_velocity used as the step command (0–1).

Definition at line 110 of file types.hpp.

◆ step_duration_s

double libstp::autotune::VelocityTuneConfig::step_duration_s {2.0}

Duration of each step-response recording in seconds.

Definition at line 108 of file types.hpp.

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

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

Public Attributes