TuxMonkey/bf_original_balance_chassis
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kidneygood
2023-01-12 15:24:56 +08:00
parent 8df0014a79
commit 85a97abb9d
5 changed files with 115 additions and 86 deletions
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4
application/gimbal/gimbal.c
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@@ -16,7 +16,9 @@ static Gimbal_Ctrl_Cmd_s gimbal_cmd_recv; // 来自cmd的控制信息
void GimbalInit()
{
gimba_IMU_data = INS_Init(); // IMU先初始化,获取姿态数据指针赋给yaw电机的其他数据来源
/* syh referee不需要imu
暂时关闭以加快初始化速度 */
// gimba_IMU_data = INS_Init(); // IMU先初始化,获取姿态数据指针赋给yaw电机的其他数据来源
// YAW
Motor_Init_Config_s yaw_config = {