TuxMonkey/bf_original_balance_chassis
1
0
Fork 0
mirror of https://gitee.com/dlmu-cone/bf_original_balance_chassis synced 2026-07-24 11:37:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

将os任务的创建统一转移到app层方便修改,使得架构更加清晰.修复了INS未初始化导致的读取错误

Browse Source
This commit is contained in:
NeoZng
2023-06-05 22:43:25 +08:00
parent 253f391cd5
commit 72884ef96b
9 changed files with 136 additions and 100 deletions
Download Patch File Download Diff File Expand all files Collapse all files

5
modules/imu/ins_task.c
View File

@@ -74,6 +74,11 @@ static void InitQuaternion(float *init_q4)
attitude_t *INS_Init(void)
{
if (!INS.init)
INS.init = 1;
else
return (attitude_t *)&INS.Gyro;
while (BMI088Init(&hspi1, 1) != BMI088_NO_ERROR)
;
IMU_Param.scale[X] = 1;