TuxMonkey/bf_original_balance_chassis
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重新组织了文件的防止

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NeoZng
2023-01-02 23:20:35 +08:00
parent c05513587c
commit bfaae13b59
26 changed files with 105 additions and 62 deletions
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18
application/gimbal/gimbal.c
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@@ -5,7 +5,7 @@
#include "message_center.h"
#include "general_def.h"
static attitude_t *Gimbal_IMU_data; // 云台IMU数据
static attitude_t *gimba_IMU_data; // 云台IMU数据
static DJIMotorInstance *yaw_motor; // yaw电机
static DJIMotorInstance *pitch_motor; // pitch电机
@@ -16,7 +16,7 @@ static Gimbal_Ctrl_Cmd_s gimbal_cmd_recv; // 来自cmd的控制信息
void GimbalInit()
{
// Gimbal_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
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 = {
@@ -38,9 +38,9 @@ void GimbalInit()
.Kd = 0,
.MaxOut = 4000,
},
.other_angle_feedback_ptr = &Gimbal_IMU_data->YawTotalAngle,
// 还需要增加角速度额外反馈指针
// .other_speed_feedback_ptr=&Gimbal_IMU_data.wz;
.other_angle_feedback_ptr = &gimba_IMU_data->YawTotalAngle,
// 还需要增加角速度额外反馈指针,注意方向,ins_task.md中有c板的bodyframe坐标系说明
// .other_speed_feedback_ptr=&gimba_IMU_data.wz;
},
.controller_setting_init_config = {
.angle_feedback_source = MOTOR_FEED,
@@ -70,9 +70,9 @@ void GimbalInit()
.Kd = 0,
.MaxOut = 4000,
},
.other_angle_feedback_ptr = &Gimbal_IMU_data->Pitch,
// 还需要增加角速度额外反馈指针
// .other_speed_feedback_ptr=&Gimbal_IMU_data.wy,
.other_angle_feedback_ptr = &gimba_IMU_data->Pitch,
// 还需要增加角速度额外反馈指针,注意方向,ins_task.md中有c板的bodyframe坐标系说明
// .other_speed_feedback_ptr=&gimba_IMU_data.wy,
},
.controller_setting_init_config = {
.angle_feedback_source = MOTOR_FEED,
@@ -133,7 +133,7 @@ void GimbalTask()
}
// 设置反馈数据,主要是imu和yaw的ecd
gimbal_feedback_data.gimbal_imu_data = *Gimbal_IMU_data;
gimbal_feedback_data.gimbal_imu_data = *gimba_IMU_data;
gimbal_feedback_data.yaw_motor_single_round_angle = yaw_motor->motor_measure.angle_single_round;
// 推送消息