TuxMonkey/bf_original_balance_chassis
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添加速度融合

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kai
2024-03-24 20:41:40 +08:00
parent a1a9d23c2f
commit 5b7c5cf88f
3 changed files with 40 additions and 4 deletions
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6
application/chassis/balance.h
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@@ -12,10 +12,10 @@
#define MAX_DIST_TRACK 0.1f
#define MAX_VEL_TRACK 0.5f
#define CENTER_IMU_R 0.09f // IMU距离中心的距离
// IMU距离中心的距离
#define CENTER_IMU_W 0
#define CENTER_IMU_L 0.09f
#define CENTER_IMU_H 0
#define CENTER_IMU_L 0.1f
#define CENTER_IMU_H -0.055f
#define VEL_PROCESS_NOISE 25 // 速度过程噪声
#define VEL_MEASURE_NOISE 800 // 速度测量噪声