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https://bitbucket.org/librepilot/librepilot.git
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Merge remote-tracking branch 'origin/igor/pidt1' into relay_tuning
Conflicts: flight/Modules/Stabilization/stabilization.c
This commit is contained in:
commit
9763a70364
@ -33,16 +33,23 @@ OUTDIR := $(TOP)/build/$(TARGET)
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.PHONY: bin
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.PHONY: bin
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bin: $(OUTDIR)/$(TARGET).bin
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bin: $(OUTDIR)/$(TARGET).bin
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FW_PAD = $(shell echo $$[$(FW_BANK_BASE)-$(BL_BANK_BASE)-$(BL_BANK_SIZE)])
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FW_PRE_PAD = $(shell echo $$[$(FW_BANK_BASE)-$(BL_BANK_BASE)-$(BL_BANK_SIZE)])
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$(OUTDIR)/$(TARGET).pad:
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$(OUTDIR)/$(TARGET).fw_pre.pad:
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$(V0) @echo $(MSG_PADDING) $@
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$(V0) @echo $(MSG_PADDING) $@
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$(V1) dd status=noxfer if=/dev/zero count=$(FW_PAD) bs=1 2>/dev/null | tr '\000' '\377' > $@
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$(V1) dd status=noxfer if=/dev/zero count=$(FW_PRE_PAD) bs=1 2>/dev/null | tr '\000' '\377' > $@
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FW_POST_PAD = $(shell echo $$[$(FW_BANK_SIZE)-$(FW_DESC_SIZE)-$$(stat -c%s $(FW_BIN))])
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$(OUTDIR)/$(TARGET).fw_post.pad:
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$(V0) @echo $(MSG_PADDING) $@
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$(V1) dd status=noxfer if=/dev/zero count=$(FW_POST_PAD) bs=1 2>/dev/null | tr '\000' '\377' > $@
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BL_BIN = $(TOP)/build/bl_$(BOARD_NAME)/bl_$(BOARD_NAME).bin
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BL_BIN = $(TOP)/build/bl_$(BOARD_NAME)/bl_$(BOARD_NAME).bin
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FW_BIN = $(TOP)/build/fw_$(BOARD_NAME)/fw_$(BOARD_NAME).bin
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FW_BIN = $(TOP)/build/fw_$(BOARD_NAME)/fw_$(BOARD_NAME).bin
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$(OUTDIR)/$(TARGET).bin: $(BL_BIN) $(FW_BIN) $(OUTDIR)/$(TARGET).pad
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FWINFO_BIN = $(FW_BIN).firmwareinfo.bin
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$(OUTDIR)/$(TARGET).bin: $(BL_BIN) $(FW_BIN) $(OUTDIR)/$(TARGET).fw_pre.pad $(OUTDIR)/$(TARGET).fw_post.pad
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$(V0) @echo $(MSG_FLASH_IMG) $@
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$(V0) @echo $(MSG_FLASH_IMG) $@
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$(V1) cat $(BL_BIN) $(OUTDIR)/$(TARGET).pad $(FW_BIN) > $@
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$(V1) cat $(BL_BIN) $(OUTDIR)/$(TARGET).fw_pre.pad $(FW_BIN) $(OUTDIR)/$(TARGET).fw_post.pad $(FWINFO_BIN) > $@
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.PHONY: dfu
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.PHONY: dfu
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dfu: $(OUTDIR)/$(TARGET).bin
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dfu: $(OUTDIR)/$(TARGET).bin
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@ -420,6 +420,10 @@ static int32_t updateSensorsCC3D(AccelsData * accelsData, GyrosData * gyrosData)
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gyrosData->z += gyro_correct_int[2];
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gyrosData->z += gyro_correct_int[2];
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}
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}
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// Because most crafts wont get enough information from gravity to zero yaw gyro, we try
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// and make it average zero (weakly)
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gyro_correct_int[2] += - gyrosData->z * yawBiasRate;
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GyrosSet(gyrosData);
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GyrosSet(gyrosData);
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AccelsSet(accelsData);
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AccelsSet(accelsData);
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@ -67,6 +67,7 @@
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enum {PID_RATE_ROLL, PID_RATE_PITCH, PID_RATE_YAW, PID_ROLL, PID_PITCH, PID_YAW, PID_MAX};
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enum {PID_RATE_ROLL, PID_RATE_PITCH, PID_RATE_YAW, PID_ROLL, PID_PITCH, PID_YAW, PID_MAX};
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// Private variables
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// Private variables
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static xTaskHandle taskHandle;
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static xTaskHandle taskHandle;
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static StabilizationSettingsData settings;
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static StabilizationSettingsData settings;
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@ -391,6 +392,7 @@ static void ZeroPids(void)
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for(uint32_t i = 0; i < PID_MAX; i++)
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for(uint32_t i = 0; i < PID_MAX; i++)
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pid_zero(&pids[i]);
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pid_zero(&pids[i]);
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for(uint8_t i = 0; i < 3; i++)
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for(uint8_t i = 0; i < 3; i++)
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axis_lock_accum[i] = 0.0f;
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axis_lock_accum[i] = 0.0f;
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}
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}
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@ -75,6 +75,7 @@ SECTIONS
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{
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{
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. = ALIGN(4);
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. = ALIGN(4);
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KEEP(*(.boardinfo))
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KEEP(*(.boardinfo))
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. = ALIGN(ORIGIN(BD_INFO)+LENGTH(BD_INFO));
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} > BD_INFO
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} > BD_INFO
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/* Stabs debugging sections. */
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/* Stabs debugging sections. */
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