TuxMonkey/bf_original_balance_chassis
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小板凳 存档。

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TuxMonkey
2026-07-15 16:54:22 +08:00
parent eb858afc17
commit 5693c30faf
1 changed files with 6 additions and 5 deletions
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11
application/chassis/balance.c
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@@ -24,10 +24,10 @@
#include "math.h"
#include "string.h"
#define STOOL_SPEED_REF 1.5f
#define STOOL_YAW_RATE_REF 3.5f
#define STOOL_ACC_REF 4.0f
#define STOOL_BRAKE_ACC_REF 8.0f
#define STOOL_SPEED_REF 1.8f
#define STOOL_YAW_RATE_REF 2.4f
#define STOOL_ACC_REF 6.5f
#define STOOL_BRAKE_ACC_REF 16.0f
#define STOOL_PITCH_K 50.0f
#define STOOL_PITCH_W_K 12.5f
#define STOOL_VEL_K 6.2f
@@ -343,7 +343,8 @@ static void ControlSwitch()
return;
}
if (switch_is_down(rc_data[TEMP].rc.switch_right))
uint8_t switch_right = rc_data[TEMP].rc.switch_right;
if (!switch_is_up(switch_right) && !switch_is_mid(switch_right))
return;
float chassis_vol = referee_data->PowerHeatData.chassis_voltage * 0.001f;