📅 日期2026-06-26

📊 统计1 个仓库 · 8 个提交 · +8977 行 · -1287 行

📝 今日小结

stm32h750 飞控项目启动,今天完成了工程初始化、姿态 NN 权重嵌入,并把仿真接口替换为真实 host 环境,闭环评估的参数也调了一轮。

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

凌晨 init 飞控栈并嵌入训练好的姿态策略权重,随后优化闭环评估与抗扰参数。白天把仿真层替换成真实 host 环境,固件核心与 host 验证拆开,晚上继续训练姿态 NN——先优化权重,再扩大网络容量。

✅ 提交 3590327 · 提交者 dkjsiogu · 02:28

init stm32h750 flight control stack

📄 文件统计

项目数量
新增1771
修改28
删除0
  • .gitignore · +12/-0
  • CMakeLists.txt · +40/-0
  • README.md · +41/-0
  • include/flight_control/app/flight_application.hpp · +54/-0
  • include/flight_control/config.hpp · +16/-0
  • include/flight_control/control/speed_controller.hpp · +40/-0
  • include/flight_control/control/torque_controller.hpp · +33/-0
  • include/flight_control/data/flight_types.hpp · +71/-0
  • include/flight_control/data/history_window.hpp · +25/-0
  • include/flight_control/interfaces/flight_interfaces.hpp · +28/-0
  • include/flight_control/math/vector_quaternion.hpp · +199/-0
  • include/flight_control/model/attitude_policy.hpp · +53/-0
  • include/flight_control/model/model_adapter.hpp · +44/-0
  • include/flight_control/model/static_mlp_policy.hpp · +33/-0
  • include/flight_control/platform/freertos/freertos_task_runner.hpp · +22/-0
  • include/flight_control/platform/host/simulated_components.hpp · +74/-0
  • include/flight_control/runtime/task_runner.hpp · +36/-0
  • src/app/flight_application.cpp · +153/-0
  • src/control/speed_controller.cpp · +94/-0
  • src/control/torque_controller.cpp · +55/-0
  • src/data/history_window.cpp · +39/-0
  • src/main.cpp · +39/-0
  • src/model/model_adapter.cpp · +92/-0
  • src/model/static_mlp_policy.cpp · +60/-0
  • src/platform/freertos/freertos_task_runner.cpp · +40/-0
  • … 共 28 个文件

✅ 提交 9fe7e61 · 提交者 dkjsiogu · 02:33

embed trained attitude policy weights

📄 文件统计

项目数量
新增457
修改9
删除19
  • CMakeLists.txt · +1/-0
  • README.md · +2/-2
  • include/flight_control/control/speed_controller.hpp · +2/-2
  • include/flight_control/control/torque_controller.hpp · +3/-4
  • include/flight_control/model/generated_policy.hpp · +13/-0
  • include/flight_control/platform/host/simulated_components.hpp · +8/-8
  • src/main.cpp · +3/-3
  • src/model/generated_policy.cpp · +413/-0
  • tests/flight_control_tests.cpp · +12/-0

✅ 提交 c5fa40f · 提交者 dkjsiogu · 03:14

优化闭环飞控评估与抗扰参数 / Optimize closed-loop flight evaluation

📄 文件统计

项目数量
新增665
修改20
删除12
  • CMakeLists.txt · +12/-0
  • README.md · +28/-1
  • helloagents/CHANGELOG.md · +15/-0
  • helloagents/INDEX.md · +12/-0
  • helloagents/archive/.gitkeep · +1/-0
  • helloagents/context.md · +15/-0
  • helloagents/modules/_index.md · +3/-0
  • helloagents/modules/flight_control_stack.md · +13/-0
  • helloagents/plan/.gitkeep · +1/-0
  • include/flight_control/control/speed_controller.hpp · +13/-9
  • include/flight_control/eval/simulation_runner.hpp · +84/-0
  • include/flight_control/platform/host/simulated_components.hpp · +1/-0
  • output/flight_evaluation_metrics.csv · +6/-0
  • output/flight_evaluation_report.md · +14/-0
  • src/control/speed_controller.cpp · +17/-1
  • src/eval/simulation_runner.cpp · +347/-0
  • src/evaluate.cpp · +35/-0
  • src/model/generated_policy.cpp · +1/-1
  • src/platform/host/simulated_components.cpp · +5/-0
  • tests/system_eval_tests.cpp · +42/-0

✅ 提交 f9fe113 · 提交者 dkjsiogu · 10:08

docs: 补齐飞控头文件中文注释 / document flight control headers

📄 文件统计

项目数量
新增990
修改17
删除8
  • helloagents/CHANGELOG.md · +1/-0
  • include/flight_control/app/flight_application.hpp · +54/-0
  • include/flight_control/config.hpp · +10/-1
  • include/flight_control/control/speed_controller.hpp · +59/-0
  • include/flight_control/control/torque_controller.hpp · +51/-0
  • include/flight_control/data/flight_types.hpp · +83/-1
  • include/flight_control/data/history_window.hpp · +33/-1
  • include/flight_control/eval/simulation_runner.hpp · +111/-0
  • include/flight_control/interfaces/flight_interfaces.hpp · +34/-1
  • include/flight_control/math/vector_quaternion.hpp · +234/-0
  • include/flight_control/model/attitude_policy.hpp · +47/-1
  • include/flight_control/model/generated_policy.hpp · +10/-0
  • include/flight_control/model/model_adapter.hpp · +59/-0
  • include/flight_control/model/static_mlp_policy.hpp · +32/-1
  • include/flight_control/platform/freertos/freertos_task_runner.hpp · +22/-1
  • include/flight_control/platform/host/simulated_components.hpp · +112/-0
  • include/flight_control/runtime/task_runner.hpp · +38/-1

✅ 提交 f9f741f · 提交者 dkjsiogu · 16:28

refactor: 用真实 host 环境替代仿真接口 / replace simulation layer with host environment

📄 文件统计

项目数量
新增735
修改24
删除490
  • CMakeLists.txt · +2/-2
  • README.md · +3/-3
  • helloagents/CHANGELOG.md · +2/-0
  • helloagents/INDEX.md · +1/-1
  • helloagents/context.md · +1/-1
  • helloagents/modules/flight_control_stack.md · +1/-1
  • include/flight_control/control/speed_controller.hpp · +12/-0
  • include/flight_control/control/torque_controller.hpp · +2/-0
  • include/flight_control/data/flight_types.hpp · +6/-4
  • include/flight_control/eval/{simulation_runner.hpp => closed_loop_evaluator.hpp} · +25/-25
  • include/flight_control/interfaces/flight_interfaces.hpp · +2/-2
  • include/flight_control/platform/host/host_environment.hpp · +245/-0
  • include/flight_control/platform/host/simulated_components.hpp · +0/-187
  • output/flight_evaluation_metrics.csv · +5/-5
  • output/flight_evaluation_report.md · +8/-7
  • src/control/speed_controller.cpp · +32/-2
  • src/control/torque_controller.cpp · +8/-3
  • src/eval/{simulation_runner.cpp => closed_loop_evaluator.cpp} · +34/-27
  • src/evaluate.cpp · +3/-3
  • src/main.cpp · +8/-8
  • src/platform/host/host_environment.cpp · +320/-0
  • src/platform/host/simulated_components.cpp · +0/-197
  • tests/flight_control_tests.cpp · +9/-6
  • tests/system_eval_tests.cpp · +6/-6

✅ 提交 a5a59dc · 提交者 dkjsiogu · 17:34

refactor: 分离固件核心与host验证 / split firmware core from host validation

📄 文件统计

项目数量
新增767
修改26
删除191
  • .gitignore · +1/-1
  • CMakeLists.txt · +58/-16
  • README.md · +54/-41
  • helloagents/CHANGELOG.md · +7/-0
  • helloagents/context.md · +8/-2
  • helloagents/modules/flight_control_stack.md · +13/-0
  • include/flight_control/app/flight_application.hpp · +14/-10
  • include/flight_control/data/flight_types.hpp · +2/-4
  • include/flight_control/platform/freertos/freertos_task_runner.hpp · +22/-1
  • include/flight_control/platform/host/host_synchronization.hpp · +27/-0
  • include/flight_control/platform/host/thread_task_runner.hpp · +55/-0
  • include/flight_control/platform/stm32/stm32_flight_port.hpp · +107/-0
  • include/flight_control/runtime/synchronization.hpp · +60/-0
  • include/flight_control/runtime/task_runner.hpp · +8/-37
  • src/app/flight_application.cpp · +19/-45
  • src/host/main.cpp · +44/-0
  • src/main.cpp · +16/-19
  • src/platform/freertos/freertos_task_runner.cpp · +54/-11
  • src/platform/host/host_environment.cpp · +0/-1
  • src/platform/host/host_synchronization.cpp · +13/-0
  • src/{runtime/task_runner.cpp => platform/host/thread_task_runner.cpp} · +6/-2
  • src/platform/stm32/stm32_board_hooks_weak.cpp · +59/-0
  • src/platform/stm32/stm32_flight_port.cpp · +34/-0
  • src/runtime/synchronization.cpp · +18/-0
  • tests/firmware_boundary_tests.cpp · +63/-0
  • … 共 26 个文件

✅ 提交 0fc5f87 · 提交者 dkjsiogu · 20:19

train: 优化姿态NN权重 / optimize attitude NN weights

📄 文件统计

项目数量
新增1252
修改10
删除390
  • CMakeLists.txt · +5/-0
  • README.md · +12/-0
  • helloagents/CHANGELOG.md · +2/-0
  • helloagents/context.md · +4/-0
  • helloagents/modules/flight_control_stack.md · +2/-0
  • output/flight_evaluation_metrics.csv · +5/-5
  • output/flight_evaluation_report.md · +6/-6
  • src/model/generated_policy.cpp · +844/-379
  • tools/export_linear_policy.py · +179/-0
  • tools/policy_search.cpp · +193/-0

✅ 提交 1032a21 · 提交者 dkjsiogu · 23:17

train: 扩大姿态NN容量 / expand attitude NN capacity

📄 文件统计

项目数量
新增2340
修改12
删除177
  • README.md · +3/-1
  • helloagents/CHANGELOG.md · +3/-0
  • helloagents/context.md · +1/-1
  • helloagents/modules/flight_control_stack.md · +2/-2
  • include/flight_control/model/static_mlp_policy.hpp · +2/-2
  • output/flight_evaluation_metrics.csv · +5/-5
  • output/flight_evaluation_report.md · +6/-6
  • src/model/generated_policy.cpp · +1912/-48
  • tests/system_eval_tests.cpp · +3/-3
  • tools/export_linear_policy.py · +159/-61
  • tools/policy_search.cpp · +243/-48
  • tools/static_policy_params.txt · +1/-0