📅 日期2026-06-27

📊 统计1 个仓库 · 8 个提交 · +12904 行 · -15857 行

📝 今日小结

真机与仿真彻底分家:H743 真实驱动模式收口,失效保护加强,控制侧把速度环参数和姿态历史窗口都推了一轮,并引入自适应 TCN 策略。

📦 dkjsiogu/stm32h750-flight-control · stm32h750-flight-control

凌晨拆分固件与仿真、收口 H743 真实驱动,并加强失效保护、更新 NN 权重;白天优化闭环速度控制参数,姿态模型从固定窗口一路扩到宽历史,最后引入自适应 TCN 姿态策略,睡前整理好仓库边界 README。

✅ 提交 469715b · 提交者 dkjsiogu · 00:25

firmware: 拆分真机飞控和仿真 / split firmware and simulation

📄 文件统计

项目数量
新增1096
修改43
删除2191
  • CMakeLists.txt · +3/-37
  • README.md · +28/-22
  • boards/stm32h743/CMakeLists.txt · +76/-0
  • boards/stm32h743/README.md · +32/-0
  • boards/stm32h743/include/board_io.hpp · +60/-0
  • boards/stm32h743/src/board_hooks.cpp · +105/-0
  • boards/stm32h743/src/syscalls.cpp · +139/-0
  • boards/stm32h743/src/system_stm32h743.cpp · +46/-0
  • boards/stm32h743/startup_stm32h743xx.s · +67/-0
  • boards/stm32h743/stm32h743xx_flash.ld · +95/-0
  • boards/stm32h743/toolchain-arm-none-eabi.cmake · +14/-0
  • helloagents/CHANGELOG.md · +18/-0
  • helloagents/INDEX.md · +2/-1
  • helloagents/context.md · +6/-4
  • helloagents/modules/flight_control_stack.md · +9/-9
  • include/flight_control/app/flight_application.hpp · +2/-2
  • include/flight_control/data/flight_types.hpp · +3/-3
  • include/flight_control/estimation/state_estimator.hpp · +126/-0
  • include/flight_control/eval/closed_loop_evaluator.hpp · +0/-195
  • include/flight_control/interfaces/flight_interfaces.hpp · +2/-2
  • include/flight_control/platform/host/host_environment.hpp · +0/-245
  • include/flight_control/platform/host/host_synchronization.hpp · +0/-27
  • include/flight_control/platform/host/thread_task_runner.hpp · +0/-55
  • include/flight_control/platform/stm32/stm32_flight_port.hpp · +11/-6
  • include/flight_control/runtime/synchronization.hpp · +1/-1
  • … 共 43 个文件

✅ 提交 1951960 · 提交者 dkjsiogu · 01:26

board: 收口H743真实驱动模式 / tighten H743 real driver mode

📄 文件统计

项目数量
新增503
修改18
删除96
  • README.md · +32/-20
  • boards/stm32h743/CMakeLists.txt · +95/-3
  • boards/stm32h743/README.md · +14/-13
  • boards/stm32h743/drivers/real/README.md · +19/-0
  • boards/stm32h743/drivers/stub/stub_board_drivers.cpp · +99/-0
  • boards/stm32h743/include/FreeRTOSConfig.h · +90/-0
  • boards/stm32h743/include/board_io.hpp · +24/-0
  • boards/stm32h743/src/board_hooks.cpp · +44/-53
  • boards/stm32h743/src/system_stm32h743.cpp · +35/-1
  • boards/stm32h743/startup_stm32h743xx.s · +3/-3
  • helloagents/CHANGELOG.md · +14/-0
  • helloagents/INDEX.md · +1/-1
  • helloagents/context.md · +3/-1
  • helloagents/modules/flight_control_stack.md · +2/-1
  • include/flight_control/platform/stm32/stm32_flight_port.hpp · +7/-0
  • src/main.cpp · +2/-0
  • src/platform/stm32/stm32_board_hooks_weak.cpp · +3/-0
  • tests/firmware_boundary_tests.cpp · +16/-0

✅ 提交 6d4fb5e · 提交者 dkjsiogu · 01:42

safety: 加强失效保护并更新NN权重 / harden failsafe and update NN weights

📄 文件统计

项目数量
新增95
修改9
删除29
  • README.md · +1/-1
  • helloagents/CHANGELOG.md · +12/-0
  • helloagents/context.md · +1/-1
  • include/flight_control/app/flight_application.hpp · +7/-0
  • include/flight_control/control/torque_controller.hpp · +6/-0
  • src/app/flight_application.cpp · +23/-1
  • src/control/torque_controller.cpp · +5/-0
  • src/model/generated_policy.cpp · +26/-26
  • tests/flight_control_tests.cpp · +14/-0

✅ 提交 c0087b8 · 提交者 dkjsiogu · 03:17

control: 优化闭环速度控制参数 / optimize closed-loop speed control parameters

📄 文件统计

项目数量
新增76
修改9
删除42
  • README.md · +3/-2
  • helloagents/CHANGELOG.md · +5/-1
  • helloagents/context.md · +1/-1
  • helloagents/modules/flight_control_stack.md · +3/-2
  • include/flight_control/control/speed_controller.hpp · +19/-19
  • include/flight_control/control/torque_controller.hpp · +2/-2
  • src/control/speed_controller.cpp · +10/-13
  • src/model/generated_policy.cpp · +2/-2
  • tests/flight_control_tests.cpp · +31/-0

✅ 提交 f81ae35 · 提交者 dkjsiogu · 11:52

model: 扩展姿态历史窗口 / extend attitude history window

📄 文件统计

项目数量
新增705
修改8
删除128
  • README.md · +2/-2
  • helloagents/CHANGELOG.md · +3/-2
  • helloagents/context.md · +1/-1
  • helloagents/modules/flight_control_stack.md · +3/-3
  • include/flight_control/config.hpp · +1/-1
  • include/flight_control/control/speed_controller.hpp · +8/-8
  • include/flight_control/control/torque_controller.hpp · +1/-1
  • src/model/generated_policy.cpp · +686/-110

✅ 提交 e4167cf · 提交者 dkjsiogu · 15:46

model: 扩展宽历史姿态模型 / extend wide-history attitude model

📄 文件统计

项目数量
新增9961
修改11
删除277
  • README.md · +2/-2
  • helloagents/CHANGELOG.md · +4/-0
  • helloagents/context.md · +1/-1
  • helloagents/modules/flight_control_stack.md · +3/-3
  • include/flight_control/config.hpp · +2/-2
  • include/flight_control/control/speed_controller.hpp · +15/-15
  • include/flight_control/control/torque_controller.hpp · +2/-2
  • include/flight_control/model/static_mlp_policy.hpp · +2/-2
  • src/model/generated_policy.cpp · +9929/-249
  • tests/firmware_boundary_tests.cpp · +1/-0
  • tools/static_policy_params.txt · +0/-1

✅ 提交 e33b28b · 提交者 dkjsiogu · 17:27

model: 引入自适应TCN姿态策略 / introduce adaptive TCN attitude policy

📄 文件统计

项目数量
新增360
修改14
删除13025
  • CMakeLists.txt · +1/-0
  • README.md · +4/-4
  • helloagents/CHANGELOG.md · +6/-0
  • helloagents/context.md · +2/-2
  • helloagents/modules/flight_control_stack.md · +5/-5
  • include/flight_control/control/speed_controller.hpp · +2/-2
  • include/flight_control/estimation/state_estimator.hpp · +9/-2
  • include/flight_control/model/adaptive_tcn_policy.hpp · +64/-0
  • include/flight_control/model/generated_policy.hpp · +10/-4
  • src/estimation/state_estimator.cpp · +24/-29
  • src/main.cpp · +1/-1
  • src/model/adaptive_tcn_policy.cpp · +192/-0
  • src/model/generated_policy.cpp · +26/-12974
  • tests/flight_control_tests.cpp · +14/-2

✅ 提交 35aee5b · 提交者 dkjsiogu · 23:58

docs: 整理固件仓库边界README / organize firmware boundary README

📄 文件统计

项目数量
新增108
修改1
删除69
  • README.md · +108/-69