feat(hwci): bubble-search max_ramp and soft snaps for heavy props#47
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AlexKlimaj wants to merge 2 commits into
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feat(hwci): bubble-search max_ramp and soft snaps for heavy props#47AlexKlimaj wants to merge 2 commits into
AlexKlimaj wants to merge 2 commits into
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Stop thrashing the plant with ceiling-first 0.7 backoff verifies. Find the largest safe max_ramp from the floor (geometric climb + binary refine), scale the verify snap to the probe envelope (10" no longer forces 0.30→0.95), and ship a 900KV/10" tune spec plus a ramp_snap_10inch bench profile.
Cut throttle mid-profile when firmware bemf_timeout, RPM collapse, current spiral, or a blind-step burst appears after spin is established — do not finish remaining segments into a desynced rotor. Raise the 900KV/10" tune efficiency probe through 70% with matching safety.
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Summary
lois safe, geometric climb, binary refine to the largest safe value; optional physics hint is one probe, not a high-first ladder.max_rpmis low or the probe ceiling is modest (e.g. 900KV + 10″).tunes/ark4in1-900kv-10inch.yaml(full stages including the new ramp path) andprofiles/ramp_snap_10inch.yamlfor standalone snap A/B on the 10″ bench.test_tuner.py, 56 passed offline).Motivation
On 900KV + HQProp 10x5x3 + 6S, the old ramp stage spent dozens of trials desyncing from
max_ramp=255downward. Steady probe trials were clean; the failure mode was the search policy + snap geometry, not the efficiency stack. Floor-first search and probe-scaled snaps keep certification without thrashing the plant.Test plan
PYTEST_DISABLE_PLUGIN_AUTOLOAD=1 python -m pytest tests/test_tuner.py(56 passed)hwci tune --spec tunes/ark4in1-900kv-10inch.yaml --config rig.yaml --battery-cells 6hwci run --profile ramp_snap_10inch --config rig.yaml --battery-cells 6with current vs older firmware