TuxMonkey/bf_original_balance_chassis
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能动了！（小板凳）但是还是很抖

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TuxMonkey
2026-07-15 13:40:54 +08:00
parent 8a13444e48
commit b3da53745d
5 changed files with 74 additions and 65 deletions
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modules/algorithm/QuaternionEKF.c
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@@ -199,7 +199,7 @@ void IMU_QuaternionEKF_Update(float gx, float gy, float gz, float ax, float ay,
// 利用四元数反解欧拉角
QEKF_INS.Yaw = atan2f(2.0f * (QEKF_INS.q[0] * QEKF_INS.q[3] + QEKF_INS.q[1] * QEKF_INS.q[2]), 2.0f * (QEKF_INS.q[0] * QEKF_INS.q[0] + QEKF_INS.q[1] * QEKF_INS.q[1]) - 1.0f) * 57.295779513f;
QEKF_INS.Pitch = asinf(-2.0f * (QEKF_INS.q[1] * QEKF_INS.q[3] - QEKF_INS.q[0] * QEKF_INS.q[2])) * 57.295779513f;
QEKF_INS.Pitch = -asinf(-2.0f * (QEKF_INS.q[1] * QEKF_INS.q[3] - QEKF_INS.q[0] * QEKF_INS.q[2])) * 57.295779513f;
QEKF_INS.Roll = atan2f(2.0f * (QEKF_INS.q[0] * QEKF_INS.q[1] + QEKF_INS.q[2] * QEKF_INS.q[3]), 2.0f * (QEKF_INS.q[0] * QEKF_INS.q[0] + QEKF_INS.q[3] * QEKF_INS.q[3]) - 1.0f) * 57.295779513f;
// get Yaw total, yaw数据可能会超过360,处理一下方便其他功能使用(如小陀螺)