TuxMonkey/bf_original_balance_chassis
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Merge from captain chen

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This commit is contained in:
NeoZng
2023-03-23 18:57:54 +08:00
parent 41d033e3f8
commit 59e21dc25d
19 changed files with 161 additions and 127 deletions
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3
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};
@@ -118,7 +118,6 @@ 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
INS.Yaw = QEKF_INS.Yaw;
INS.Pitch = QEKF_INS.Pitch;
INS.Roll = QEKF_INS.Roll;