ControllerConfig.h

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#ifndef CONTROLS_CONTROLLER_CONTROLLER_CONFIG_H
#define CONTROLS_CONTROLLER_CONTROLLER_CONFIG_H
 
#include <utils/Transforms.h>
 
struct ControllerConfig {
    Array6d Kp = Array6d::Zero();
 
    Array6d Ki = Array6d::Zero();
 
    Array6d Kd = Array6d::Zero();
 
    Array6d Kp_surface = Array6d::Zero();
 
    Array6d Ki_surface = Array6d::Zero();
 
    Array6d Kd_surface = Array6d::Zero();
 
    double ff_gain = 0.0;
 
    double fb_gain = 1.0;
 
    double buoyancy_gain = 0.0;
 
    bool surface_gain_scheduling = false;
 
    double surface_threshold = 0.1;
 
    Array6d axis_gain = Array6d::Ones();
 
    // ── Adaptive buoyancy bias estimation (heave) ──────────────────────────
 
    bool buoyancy_adaptive_z = false;
 
    double buoyancy_adaptive_rate = 0.5;
 
    double buoyancy_adaptive_clamp_pct = 0.15;
 
    double buoyancy_adaptive_pos_thresh = 0.15;
 
    double buoyancy_adaptive_vel_thresh = 0.05;
 
    // ── Adaptive buoyancy bias estimation (roll/pitch) ─────────────────────
    // Independent of the heave switch. Static G(q) torque is never output on
    // roll/pitch; only this adaptive bias. Roll and pitch share these values.
 
    bool buoyancy_adaptive_rp = false;
 
    double buoyancy_adaptive_rate_rp = 5.0;
 
    double buoyancy_adaptive_pos_thresh_rp = 0.2;
 
    double buoyancy_adaptive_vel_thresh_rp = 1.0;
};
 
#endif  // CONTROLS_CONTROLLER_CONTROLLER_CONFIG_H