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Merge remote-tracking branch 'origin/igor/pidt1' into relay_tuning

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Conflicts:
	flight/Modules/Stabilization/stabilization.c
This commit is contained in:
James Cotton 2012-09-10 03:10:26 -05:00
commit 9763a70364
4 changed files with 19 additions and 5 deletions
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17
flight/EntireFlash/Makefile
View File

@ -33,16 +33,23 @@ OUTDIR := $(TOP)/build/$(TARGET)
.PHONY: bin .PHONY: bin
bin: $(OUTDIR)/$(TARGET).bin bin: $(OUTDIR)/$(TARGET).bin
FW_PAD = $(shell echo $$[$(FW_BANK_BASE)-$(BL_BANK_BASE)-$(BL_BANK_SIZE)]) FW_PRE_PAD = $(shell echo $$[$(FW_BANK_BASE)-$(BL_BANK_BASE)-$(BL_BANK_SIZE)])
$(OUTDIR)/$(TARGET).pad: $(OUTDIR)/$(TARGET).fw_pre.pad:
$(V0) @echo $(MSG_PADDING) $@ $(V0) @echo $(MSG_PADDING) $@
$(V1) dd status=noxfer if=/dev/zero count=$(FW_PAD) bs=1 2>/dev/null | tr '\000' '\377' > $@ $(V1) dd status=noxfer if=/dev/zero count=$(FW_PRE_PAD) bs=1 2>/dev/null | tr '\000' '\377' > $@
FW_POST_PAD = $(shell echo $$[$(FW_BANK_SIZE)-$(FW_DESC_SIZE)-$$(stat -c%s $(FW_BIN))])
$(OUTDIR)/$(TARGET).fw_post.pad:
$(V0) @echo $(MSG_PADDING) $@
$(V1) dd status=noxfer if=/dev/zero count=$(FW_POST_PAD) bs=1 2>/dev/null | tr '\000' '\377' > $@
BL_BIN = $(TOP)/build/bl_$(BOARD_NAME)/bl_$(BOARD_NAME).bin BL_BIN = $(TOP)/build/bl_$(BOARD_NAME)/bl_$(BOARD_NAME).bin
FW_BIN = $(TOP)/build/fw_$(BOARD_NAME)/fw_$(BOARD_NAME).bin FW_BIN = $(TOP)/build/fw_$(BOARD_NAME)/fw_$(BOARD_NAME).bin
$(OUTDIR)/$(TARGET).bin: $(BL_BIN) $(FW_BIN) $(OUTDIR)/$(TARGET).pad FWINFO_BIN = $(FW_BIN).firmwareinfo.bin
$(OUTDIR)/$(TARGET).bin: $(BL_BIN) $(FW_BIN) $(OUTDIR)/$(TARGET).fw_pre.pad $(OUTDIR)/$(TARGET).fw_post.pad
$(V0) @echo $(MSG_FLASH_IMG) $@ $(V0) @echo $(MSG_FLASH_IMG) $@
$(V1) cat $(BL_BIN) $(OUTDIR)/$(TARGET).pad $(FW_BIN) > $@ $(V1) cat $(BL_BIN) $(OUTDIR)/$(TARGET).fw_pre.pad $(FW_BIN) $(OUTDIR)/$(TARGET).fw_post.pad $(FWINFO_BIN) > $@
.PHONY: dfu .PHONY: dfu
dfu: $(OUTDIR)/$(TARGET).bin dfu: $(OUTDIR)/$(TARGET).bin

4
flight/Modules/Attitude/attitude.c
View File

@ -420,6 +420,10 @@ static int32_t updateSensorsCC3D(AccelsData * accelsData, GyrosData * gyrosData)
gyrosData->z += gyro_correct_int[2]; gyrosData->z += gyro_correct_int[2];
} }
// Because most crafts wont get enough information from gravity to zero yaw gyro, we try
// and make it average zero (weakly)
gyro_correct_int[2] += - gyrosData->z * yawBiasRate;
GyrosSet(gyrosData); GyrosSet(gyrosData);
AccelsSet(accelsData); AccelsSet(accelsData);

2
flight/Modules/Stabilization/stabilization.c
View File

@ -67,6 +67,7 @@
enum {PID_RATE_ROLL, PID_RATE_PITCH, PID_RATE_YAW, PID_ROLL, PID_PITCH, PID_YAW, PID_MAX}; enum {PID_RATE_ROLL, PID_RATE_PITCH, PID_RATE_YAW, PID_ROLL, PID_PITCH, PID_YAW, PID_MAX};
// Private variables // Private variables
static xTaskHandle taskHandle; static xTaskHandle taskHandle;
static StabilizationSettingsData settings; static StabilizationSettingsData settings;
@ -391,6 +392,7 @@ static void ZeroPids(void)
for(uint32_t i = 0; i < PID_MAX; i++) for(uint32_t i = 0; i < PID_MAX; i++)
pid_zero(&pids[i]); pid_zero(&pids[i]);
for(uint8_t i = 0; i < 3; i++) for(uint8_t i = 0; i < 3; i++)
axis_lock_accum[i] = 0.0f; axis_lock_accum[i] = 0.0f;
} }

1
flight/PiOS/STM32F10x/link_STM32103CB_PIPXTREME_BL_sections.ld
View File

@ -75,6 +75,7 @@ SECTIONS
{ {
. = ALIGN(4); . = ALIGN(4);
KEEP(*(.boardinfo)) KEEP(*(.boardinfo))
. = ALIGN(ORIGIN(BD_INFO)+LENGTH(BD_INFO));
} > BD_INFO } > BD_INFO
/* Stabs debugging sections. */ /* Stabs debugging sections. */