添加速度融合

2026-07-24 03:27:45 +08:00 · 2024-03-24 20:41:40 +08:00
parent a1a9d23c2f
commit 5b7c5cf88f
3 changed files with 40 additions and 4 deletions
--- a/application/chassis/balance.c
+++ b/application/chassis/balance.c
@@ -120,6 +120,7 @@ void BalanceInit()

    // 状态初始化
    l_side.target_len = r_side.target_len = 0.12;
+    chassis.vel_cov = 100;      // 速度协方差初始化
    chassis_status = ROBOT_READY;
    DWT_GetDeltaT(&balance_dwt_cnt);
 }