Gimbal

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Author	SHA1	Message	Date
SkyLiCoder	fd2386d33a	tune: retune vision and gimbal angle PID, fix manual mode velocity hold - Vision PID: increase Kp to 100, zero Ki/Kd, tighten CoefA/B - Gimbal angle PID: reduce to P-only (Kp=1), lower IntegralLimit, remove derivative/output filters, unify MaxOut to 2000 - Manual mode: hold last velocity command on lost frames instead of stopping - Debug mode: reset debug_updated flag on mode switch - Remove stale .vscode settings copy	2026-06-02 23:44:08 +08:00
SkyLiCoder	8763b25839	chore: upgrade FreeRTOS to v2 (CMSIS-RTOS_V2), update CubeMX project config - Remove CMSIS-RTOS v1 (cmsis_os.h/cmsis_os.c), add CMSIS-RTOS v2 (cmsis_os2.c/freertos_os2.h/mpool.h) - Update FreeRTOS kernel, port, and headers to match v2 integration - Remove unused heap implementations, keep heap_4 - Update CubeMX project config (.mxproject, .ioc, CMakeLists.txt) - Update FreeRTOSConfig.h, freertos.c, main.c, stm32h7xx_it.c - Update application modules (master_machine, dmmotor) - Add CMSIS-RTOS2 headers, mpu_syscall_numbers.h, newlib/picolibc support	2026-05-30 20:40:00 +08:00
SkyLiCoder	5b3333125d	第一次提交	2026-05-29 17:36:34 +08:00

Author

SHA1

Message

Date

SkyLiCoder

fd2386d33a

tune: retune vision and gimbal angle PID, fix manual mode velocity hold

- Vision PID: increase Kp to 100, zero Ki/Kd, tighten CoefA/B
- Gimbal angle PID: reduce to P-only (Kp=1), lower IntegralLimit,
  remove derivative/output filters, unify MaxOut to 2000
- Manual mode: hold last velocity command on lost frames instead of
  stopping
- Debug mode: reset debug_updated flag on mode switch
- Remove stale .vscode settings copy

2026-06-02 23:44:08 +08:00

SkyLiCoder

8763b25839

chore: upgrade FreeRTOS to v2 (CMSIS-RTOS_V2), update CubeMX project config

- Remove CMSIS-RTOS v1 (cmsis_os.h/cmsis_os.c), add CMSIS-RTOS v2 (cmsis_os2.c/freertos_os2.h/mpool.h)
- Update FreeRTOS kernel, port, and headers to match v2 integration
- Remove unused heap implementations, keep heap_4
- Update CubeMX project config (.mxproject, .ioc, CMakeLists.txt)
- Update FreeRTOSConfig.h, freertos.c, main.c, stm32h7xx_it.c
- Update application modules (master_machine, dmmotor)
- Add CMSIS-RTOS2 headers, mpu_syscall_numbers.h, newlib/picolibc support

2026-05-30 20:40:00 +08:00

SkyLiCoder

5b3333125d

第一次提交

2026-05-29 17:36:34 +08:00

3 Commits