TuxMonkey/bf_original_balance_chassis
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修复INS_Task双重循环NAN的问题，暂时关闭了急停模式

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This commit is contained in:
NeoZng
2022-12-08 23:08:28 +08:00
parent fe85ae5a6e
commit 9f09002235
8 changed files with 101 additions and 94 deletions
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14
modules/motor/dji_motor.c
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@@ -124,7 +124,7 @@ static void DecodeDJIMotor(CANInstance *_instance)
static uint8_t *rxbuff;
static DJI_Motor_Measure_s *measure;
for (size_t i = 0; i < DJI_MOTOR_CNT; i++)
for (size_t i = 0; i < idx; i++)
{
if (dji_motor_info[i]->motor_can_instance == _instance)
{
@@ -225,7 +225,7 @@ void DJIMotorControl()
static DJI_Motor_Measure_s *motor_measure;
static float pid_measure;
// 遍历所有电机实例,进行串级PID的计算并设置发送报文的值
for (size_t i = 0; i < DJI_MOTOR_CNT; i++)
for (size_t i = 0; i < idx; i++)
{
if (dji_motor_info[i])
{
@@ -275,13 +275,11 @@ void DJIMotorControl()
sender_assignment[group].tx_buff[2 * num + 1] = 0xff & set;
// 电机是否停止运行
if (motor->stop_flag == MOTOR_STOP)
{ // 若该电机处于停止状态,直接将buff置零
memset(sender_assignment[group].tx_buff + 2 * num, 0, 16u);
}
// if (motor->stop_flag == MOTOR_STOP)
// { // 若该电机处于停止状态,直接将buff置零
// memset(sender_assignment[group].tx_buff + 2 * num, 0, 16u);
// }
}
else // 遇到空指针说明所有遍历结束,退出循环
break;
}
// 遍历flag,检查是否要发送这一帧报文