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feat(autotune): add gimbal autotune preset #52

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Merged
bresch merged 2 commits into from
Jun 19, 2026
Merged

feat(autotune): add gimbal autotune preset #52

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dae3a87
feat: add gimbal autotune preset
Frigiii Jun 19, 2026
3040c50
fix(autotune): don't crash if no preset fits
Frigiii Jun 19, 2026
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37 changes: 33 additions & 4 deletions autotune/data_selection_window.py
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Original file line number Diff line number Diff line change
Expand Up @@ -67,6 +67,30 @@ def __init__(self, filename):
"input": "vehicle_rates_setpoint/yaw.0",
"output": "vehicle_angular_velocity/xyz[2].0",
},
"GimbalRollRate": {
"input": "motor_state/roll.effort_cmd.0",
"output": "motor_angular_rates/roll.angular_rate.0",
},
"GimbalPitchRate": {
"input": "motor_state/pitch.effort_cmd.0",
"output": "motor_angular_rates/pitch.angular_rate.0",
},
"GimbalYawRate": {
"input": "motor_state/yaw.effort_cmd.0",
"output": "motor_angular_rates/yaw.angular_rate.0",
},
"GimbalRollAtt": {
"input": "motor_control/motor_commands.roll.angular_rate_setpoint.0",
"output": "attitude_info/roll.0",
},
"GimbalPitchAtt": {
"input": "motor_control/motor_commands.pitch.angular_rate_setpoint.0",
"output": "attitude_info/pitch.0",
},
"GimbalYawAtt": {
"input": "motor_control/motor_commands.yaw.angular_rate_setpoint.0",
"output": "attitude_info/yaw.0",
},
}

self.presets = {}
Expand Down Expand Up @@ -168,10 +192,12 @@ def openFile(self):
self.combo_y.clear()
self.combo_y.addItems(list_names)

# Trigger preset selection
# Trigger preset selection. If no preset matches the available
# topics, leave the input/output combos for manual configuration.
self.fillPresets()
self.combo_preset.setCurrentIndex(0)
self.selectPreset(0)
if self.presets:
self.combo_preset.setCurrentIndex(0)
self.selectPreset(0)

def fillPresets(self):
self.combo_preset.clear()
Expand All @@ -194,7 +220,10 @@ def printRangeError(self):
msg.exec_()

def selectPreset(self, index):
preset_key = list(self.presets.keys())[index]
preset_keys = list(self.presets.keys())
if index < 0 or index >= len(preset_keys):
return
preset_key = preset_keys[index]
preset = self.presets[preset_key]
(index_u, index_y) = self.findInputOutputIndex(preset)

Expand Down
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