TuxMonkey/bf_original_balance_chassis
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更新了程序流程和数据流图,增加ozone一键调试的支持,补充了legacy support warn

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NeoZng
2023-02-15 18:28:25 +08:00
parent 53bdf1707c
commit b9a7d87dfd
26 changed files with 476 additions and 223 deletions
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modules/imu/BMI088driver.c
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@@ -4,6 +4,8 @@
#include "bsp_dwt.h"
#include <math.h>
#warning this is a legacy support. test the new BMI088 module as soon as possible.
float BMI088_ACCEL_SEN = BMI088_ACCEL_6G_SEN;
float BMI088_GYRO_SEN = BMI088_GYRO_2000_SEN;

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modules/imu/ins_task.md
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@@ -6,6 +6,7 @@
![image-20221113212706633](assets\image-20221113212706633.png)
`times%10` 是固定相机的采集频率为100hz，请根据视觉算法实际能达到的最大帧率调整。
## 算法解析
介绍EKF四元数姿态解算的教程在:[四元数EKF姿态更新算法](https://zhuanlan.zhihu.com/p/454155643)