TuxMonkey/bf_original_balance_chassis
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chenfu
2024-06-01 00:11:37 +08:00
parent da591dcfb4
commit c1ab3edf88
11 changed files with 136 additions and 72 deletions
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4
modules/motor/DJImotor/dji_motor.c
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@@ -254,7 +254,7 @@ void DJIMotorControl()
// pid_ref会顺次通过被启用的闭环充当数据的载体
// 计算位置环,只有启用位置环且外层闭环为位置时会计算速度环输出
if ((motor_setting->close_loop_type & ANGLE_LOOP) && motor_setting->outer_loop_type == ANGLE_LOOP)
if (motor_setting->outer_loop_type == ANGLE_LOOP)
{
if (motor_setting->angle_feedback_source == OTHER_FEED)
pid_measure = *motor_controller->other_angle_feedback_ptr;
@@ -308,7 +308,7 @@ void DJIMotorControl()
{
if (sender_enable_flag[i])
{
CANTransmit(&sender_assignment[i], 1);
CANTransmit(&sender_assignment[i], 0.5);
}
}
}