TuxMonkey/bf_original_balance_chassis
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kai
2024-03-23 11:06:37 +08:00
parent 9961e1acfb
commit 59dc4c7ed8
9 changed files with 19 additions and 517 deletions
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modules/imu/ins_task.c
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@@ -111,7 +111,7 @@ attitude_t *INS_Init(void)
// noise of accel is relatively big and of high freq,thus lpf is used
INS.AccelLPF = 0.0085;
INS.DGyroLPF = 0.008;
INS.DGyroLPF = 0.009;
DWT_GetDeltaT(&INS_DWT_Count);
return (attitude_t *)&INS.Gyro; // @todo: 这里偷懒了,不要这样做! 修改INT_t结构体可能会导致异常,待修复.
}