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修复bmi088读取零飘错误,为instask增加初始化四元数以防止零飘发散，修复cancomm顺序

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This commit is contained in:
NeoZng
2023-04-13 10:31:06 +08:00
parent 95fca40700
commit 6523bbd6a9
8 changed files with 82 additions and 26 deletions
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8
modules/algorithm/user_lib.h
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@@ -88,7 +88,7 @@ extern uint8_t GlobalDebugMode;
#define VAL_MAX(a, b) ((a) > (b) ? (a) : (b))
/**
* @brief 返回一块干净的内存,不过仍然需要强制转换为你需要的类型
* @brief 返回一块干净的内<EFBFBD><EFBFBD>?,不过仍然需要强制转<EFBFBD><EFBFBD>?为你需要的类型
*
* @param size 分配大小
* @return void*
@@ -114,6 +114,12 @@ float theta_format(float Ang);
int float_rounding(float raw);
float* Norm3d(float* v);
void Cross3d(float* v1, float* v2, float* res);
float Dot3d(float* v1, float* v2);
//<2F><><EFBFBD>ȸ<EFBFBD>ʽ<EFBFBD><CABD>Ϊ-PI~PI
#define rad_format(Ang) loop_float_constrain((Ang), -PI, PI)