TuxMonkey/bf_original_balance_chassis
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装超电后为预检录准备的版本

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chenfu
2024-05-26 11:40:33 +08:00
parent 346a0f4d70
commit da591dcfb4
8 changed files with 83 additions and 40 deletions
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2
application/chassis/speed_estimation.h
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@@ -61,7 +61,7 @@ void SpeedEstimation(LinkNPodParam *lp, LinkNPodParam *rp, ChassisParam *cp, INS
VAL_LIMIT(cp->vel_cov, 0.01, 100); // 协方差限幅
// 速度和位置分离，有速度输入时不进行位置闭环
if(abs(cp->target_v) < 0.001)
if(abs(cp->target_v) < 0.005)
{
cp->target_dist = 0;
cp->dist += cp->vel * delta_t;