TuxMonkey/bf_original_balance_chassis
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修复了djimotor发送时的致命错误,编写了shoot app的框架

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NeoZng
2022-12-04 20:26:15 +08:00
parent 8e32fc0e6f
commit e94bb504b8
12 changed files with 254 additions and 92 deletions
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8
modules/imu/ins_task.c
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@@ -19,17 +19,17 @@
#include "user_lib.h"
static INS_t INS;
IMU_Param_t IMU_Param;
PID_t TempCtrl = {0};
static IMU_Param_t IMU_Param;
static PID_t TempCtrl = {0};
const float xb[3] = {1, 0, 0};
const float yb[3] = {0, 1, 0};
const float zb[3] = {0, 0, 1};
// 用于获取两次采样之间的时间间隔
uint32_t INS_DWT_Count = 0;
static uint32_t INS_DWT_Count = 0;
static float dt = 0, t = 0;
float RefTemp = 40; // 恒温设定温度
static float RefTemp = 40; // 恒温设定温度
static void IMU_Param_Correction(IMU_Param_t *param, float gyro[3], float accel[3]);

4
modules/imu/ins_task.md
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@@ -8,3 +8,7 @@
## 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)
## 模块移植
由于历史遗留问题,IMU模块耦合程度高.后续实现BSP_SPI,将bmi088 middleware删除.仅保留BMI088读取的协议和寄存器定义等,单独实现IMU模块.