From 8e3f90dba00ebae70457f0a004f34f85aba9e5c0 Mon Sep 17 00:00:00 2001
From: but0n <but0n@icloud.com>
Date: Fri, 2 Dec 2016 22:54:34 +0800
Subject: [PATCH] [FIX]: before install

---
 .travis.yml          |  1 -
 libs/include/motor.h |  2 +-
 libs/include/pid.h   |  6 +--
 openjtag.cfg         | 11 ------
 openocd.cfg          | 92 --------------------------------------------
 stm32f1x.cfg         | 81 --------------------------------------
 6 files changed, 4 insertions(+), 189 deletions(-)
 delete mode 100644 openjtag.cfg
 delete mode 100644 openocd.cfg
 delete mode 100644 stm32f1x.cfg

diff --git a/.travis.yml b/.travis.yml
index 9b5dd5a..6627211 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -3,7 +3,6 @@ osx_image: xcode
 language: c
 before_install:
     - brew update
-    - brew install coreutils
     - brew tap px4/px4
     - brew install gcc-arm-none-eabi
 script: make
diff --git a/libs/include/motor.h b/libs/include/motor.h
index 327f5a4..3abf216 100644
--- a/libs/include/motor.h
+++ b/libs/include/motor.h
@@ -13,7 +13,7 @@
 
 #define THROTTLE_MAX (unsigned short)3600	//2ms	-	top position of throttle
 #define THROTTLE_MIN (unsigned short)1620	//0.9ms	-	bottom position of throttle
-#define THROTTLE_MID (unsigned short)2000
+#define THROTTLE_MID (unsigned short)2200
 
 #ifdef MOTOR_NORMAL_STARTUP
     #define MOTOR_SETTING() {\
diff --git a/libs/include/pid.h b/libs/include/pid.h
index 308ce68..02bded8 100644
--- a/libs/include/pid.h
+++ b/libs/include/pid.h
@@ -3,13 +3,13 @@
 
 extern float g_Yaw, g_Pitch, g_Roll;     //eular
 
-#define OUTTER_LOOP_KP 0.3f //0.257 * 0.83 0.255
+#define OUTTER_LOOP_KP 0 //0.257 * 0.83 0.255
 #define OUTTER_LOOP_KI 0
 #define OUTTER_LOOP_KD 0
 
-#define INNER_LOOP_KP 0.08f
+#define INNER_LOOP_KP 0.018f
 #define INNER_LOOP_KI 0
-#define INNER_LOOP_KD 0
+#define INNER_LOOP_KD 0.4f
 
 #define SUM_ERRO_MAX 900
 #define SUM_ERRO_MIN -900
diff --git a/openjtag.cfg b/openjtag.cfg
deleted file mode 100644
index 8253143..0000000
--- a/openjtag.cfg
+++ /dev/null
@@ -1,11 +0,0 @@
-#
-# 100ASK OpenJTAG
-#
-# http://www.100ask.net
-#
-
-interface ft2232
-ft2232_device_desc "USB<=>JTAG&RS232"
-ft2232_layout jtagkey
-ft2232_vid_pid 0x1457 0x5118
-#jtag_khz 1000
diff --git a/openocd.cfg b/openocd.cfg
deleted file mode 100644
index 7e58d48..0000000
--- a/openocd.cfg
+++ /dev/null
@@ -1,92 +0,0 @@
-#daemon configuration###############################################################
-telnet_port 4444
-gdb_port 3333
-
-#interface configuration openjtag#############################
-interface ft2232
-ft2232_device_desc "USB<=>JTAG&RS232"
-ft2232_layout jtagkey
-ft2232_vid_pid 0x1457 0x5118
-
-#board configuration################################################################
-# Adjust Work-area size (RAM size) according to MCU in use:
-#STM32F103RB --> 20KB
-#set WORKAREASIZE 0x5000
-#STM32F103ZE --> 64KB
-set WORKAREASIZE 0x10000
-
-#target configuration###############################################################
-# script for stm32f1x family
-if { [info exists CHIPNAME] } {
-set _CHIPNAME $CHIPNAME
-} else {
-set _CHIPNAME stm32f1x
-}
-if { [info exists ENDIAN] } {
-set _ENDIAN $ENDIAN
-} else {
-set _ENDIAN little
-}
-# Work-area is a space in RAM used for flash programming
-# By default use 16kB
-if { [info exists WORKAREASIZE] } {
-  set _WORKAREASIZE $WORKAREASIZE
-} else {
-  set _WORKAREASIZE 0x4000
-}
-# JTAG speed should be <= F_CPU/6. F_CPU after reset is 8MHz, so use F_JTAG = 1MHz
-adapter_khz 500
-adapter_nsrst_delay 100
-jtag_ntrst_delay 100
-#jtag scan chain
-if { [info exists CPUTAPID] } {
- set _CPUTAPID $CPUTAPID
-} else {
-# See STM Document RM0008
-# Section 31.6.3
-  set _CPUTAPID 0x3ba00477
-}
-jtag newtap $_CHIPNAME cpu -irlen 4 -ircapture 0x1 -irmask 0xf -expected-id $_CPUTAPID
-if { [info exists BSTAPID] } {
-# FIXME this never gets used to override defaults...
-  set _BSTAPID $BSTAPID
-} else {
-# See STM Document RM0008
-# Section 31.6.2
-# Low density devices, Rev A
- set _BSTAPID1 0x06412041
-# Medium density devices, Rev A
- set _BSTAPID2 0x06410041
-# Medium density devices, Rev B and Rev Z
-
- set _BSTAPID3 0x16410041
- set _BSTAPID4 0x06420041
-# High density devices, Rev A
- set _BSTAPID5 0x06414041
-# Connectivity line devices, Rev A and Rev Z
- set _BSTAPID6 0x06418041
-# XL line devices, Rev A
- set _BSTAPID7 0x06430041
-# VL line devices, Rev A and Z In medium-density and high-density value line devices
- set _BSTAPID8 0x06420041
-# VL line devices, Rev A
- set _BSTAPID9 0x06428041
-}
-jtag newtap $_CHIPNAME bs -irlen 5 -expected-id $_BSTAPID1 \
-	-expected-id $_BSTAPID2 -expected-id $_BSTAPID3 \
-	-expected-id $_BSTAPID4 -expected-id $_BSTAPID5 \
-	-expected-id $_BSTAPID6 -expected-id $_BSTAPID7 \
-	-expected-id $_BSTAPID8 -expected-id $_BSTAPID9
-
-set _TARGETNAME $_CHIPNAME.cpu
-target create $_TARGETNAME cortex_m -endian $_ENDIAN -chain-position $_TARGETNAME
-
-$_TARGETNAME configure -work-area-phys 0x20000000 -work-area-size $_WORKAREASIZE -work-area-backup 0
-
-# flash size will be probed
-set _FLASHNAME $_CHIPNAME.flash
-flash bank $_FLASHNAME stm32f1x 0x08000000 0 0 0 $_TARGETNAME
-
-# if srst is not fitted use SYSRESETREQ to
-# perform a soft reset
-cortex_m reset_config sysresetreq
diff --git a/stm32f1x.cfg b/stm32f1x.cfg
deleted file mode 100644
index 7d3f42f..0000000
--- a/stm32f1x.cfg
+++ /dev/null
@@ -1,81 +0,0 @@
-# script for stm32f1x family
-
-if { [info exists CHIPNAME] } {
-   set _CHIPNAME $CHIPNAME
-} else {
-   set _CHIPNAME stm32f1x
-}
-
-if { [info exists ENDIAN] } {
-   set _ENDIAN $ENDIAN
-} else {
-   set _ENDIAN little
-}
-
-# Work-area is a space in RAM used for flash programming
-# By default use 16kB
-if { [info exists WORKAREASIZE] } {
-   set _WORKAREASIZE $WORKAREASIZE
-} else {
-   set _WORKAREASIZE 0x4000
-}
-
-# JTAG speed should be <= F_CPU/6. F_CPU after reset is 8MHz, so use F_JTAG = 1MHz
-adapter_khz 1000
-
-adapter_nsrst_delay 100
-jtag_ntrst_delay 100
-
-#jtag scan chain
-if { [info exists CPUTAPID] } {
-   set _CPUTAPID $CPUTAPID
-} else {
-  # See STM Document RM0008
-  # Section 26.6.3
-   set _CPUTAPID 0x3ba00477
-}
-jtag newtap $_CHIPNAME cpu -irlen 4 -ircapture 0x1 -irmask 0xf -expected-id $_CPUTAPID
-
-if { [info exists BSTAPID] } {
-   # FIXME this never gets used to override defaults...
-   set _BSTAPID $BSTAPID
-} else {
-  # See STM Document RM0008
-  # Section 29.6.2
-  # Low density devices, Rev A
-  set _BSTAPID1 0x06412041
-  # Medium density devices, Rev A
-  set _BSTAPID2 0x06410041
-  # Medium density devices, Rev B and Rev Z
-  set _BSTAPID3 0x16410041
-  set _BSTAPID4 0x06420041
-  # High density devices, Rev A
-  set _BSTAPID5 0x06414041
-  # Connectivity line devices, Rev A and Rev Z
-  set _BSTAPID6 0x06418041
-  # XL line devices, Rev A
-  set _BSTAPID7 0x06430041
-  # VL line devices, Rev A and Z In medium-density and high-density value line devices
-  set _BSTAPID8 0x06420041
-  # VL line devices, Rev A
-  set _BSTAPID9 0x06428041
-
-}
-jtag newtap $_CHIPNAME bs -irlen 5 -expected-id $_BSTAPID1 \
-	-expected-id $_BSTAPID2 -expected-id $_BSTAPID3 \
-	-expected-id $_BSTAPID4 -expected-id $_BSTAPID5 \
-	-expected-id $_BSTAPID6 -expected-id $_BSTAPID7 \
-	-expected-id $_BSTAPID8 -expected-id $_BSTAPID9
-
-set _TARGETNAME $_CHIPNAME.cpu
-target create $_TARGETNAME cortex_m -endian $_ENDIAN -chain-position $_TARGETNAME
-
-$_TARGETNAME configure -work-area-phys 0x20000000 -work-area-size $_WORKAREASIZE -work-area-backup 0
-
-# flash size will be probed
-set _FLASHNAME $_CHIPNAME.flash
-flash bank $_FLASHNAME stm32f1x 0x08000000 0 0 0 $_TARGETNAME
-
-# if srst is not fitted use SYSRESETREQ to
-# perform a soft reset
-cortex_m reset_config sysresetreq