Docs and logging improvements for SITL analysis#11
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- arduloop's rate-PID anti-windup 'saturated' gating was architecturally present but never actually populated by any caller (always False), silently disabling anti-windup across all axes in simtests. - HeliRateController now self-computes per-axis saturation each tick, mirroring AP_MotorsHeli_Single::move_actuators: combined roll/pitch cyclic magnitude vs new HeliParams.CYC_MAX_cd (from H_CYC_MAX param, default 2500 centi-degrees), plus yaw output-limit saturation. Stored as self._prev_saturated and fed into the NEXT tick's update_all(limit=...) calls, replicating AP's one-cycle-delayed anti-windup feedback. - Removed the now-dead external 'saturated' parameter from HeliRateController.update() and GuidedAttitudeController.update() (no caller ever supplied it; clean cutover per repo convention). - Fixed a bug in AC_PID debug recording (d.SRate referenced a nonexistent self._output_slew_rate; now uses self._slew_limiter.get_slew_rate()). - Added simulation/analysis/arduloop_pid_replay.py: replays real SITL PID_TUNING desired/achieved samples through arduloop's own AC_PID to isolate controller-math divergence from physics/EKF drift. Confirmed P/D/FF terms already matched real AP almost exactly; I-term diverged (pitch especially) due to the anti-windup gap fixed here. - Extended telemetry schema (telemetry_columns.py, telemetry_csv.py, mock_ardupilot.py, mediator.py) and compare_pumping_sitl_simtest.py with PDmod/SRate columns end-to-end to support this diagnosis. Validated: full unit suite (467 passed), targeted arduloop/guided/heli/pid tests (55 passed). Re-ran SITL test_lua_flight_steady_sitl after the fix: still fails on max_tension (1202N vs 1000N limit), confirming this fix does not touch the real firmware's tension-spike behavior (that remains a separate, open issue) -- as expected since arduloop is simtest-only.
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This PR is the logging/docs-only split from
arduloop-anti-windup-fidelity-fix.Included:
Excluded from this branch: