TuxMonkey/bf_original_balance_chassis
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修复电机反馈的bug,通信bug,ps2手柄支持,舵机的修复,cmdbug的修复

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This commit is contained in:
chenfu
2023-03-22 16:37:12 +08:00
parent 3cf1831237
commit 58db6e5705
25 changed files with 231 additions and 145 deletions
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11
modules/imu/ins_task.c
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@@ -17,7 +17,7 @@
#include "bsp_temperature.h"
#include "spi.h"
#include "user_lib.h"
#include "general_def.h"
static INS_t INS;
static IMU_Param_t IMU_Param;
static PIDInstance TempCtrl = {0};
@@ -118,11 +118,18 @@ void INS_Task(void)
}
BodyFrameToEarthFrame(INS.MotionAccel_b, INS.MotionAccel_n, INS.q); // 转换回导航系n
// 获取最终数据
//获取最终数据
INS.Accel[X] = INS.Accel[X]*RAD_2_ANGLE;
INS.Accel[Y] = INS.Accel[Y]*RAD_2_ANGLE;
INS.Accel[Z] = INS.Accel[Z]*RAD_2_ANGLE;
INS.Gyro[X] = INS.Gyro[X]*RAD_2_ANGLE;
INS.Gyro[Y] = INS.Gyro[Y]*RAD_2_ANGLE;
INS.Gyro[Z] = INS.Gyro[Z]*RAD_2_ANGLE;
INS.Yaw = QEKF_INS.Yaw;
INS.Pitch = QEKF_INS.Pitch;
INS.Roll = QEKF_INS.Roll;
INS.YawTotalAngle = QEKF_INS.YawTotalAngle;
}
// temperature control