TuxMonkey/bf_original_balance_chassis
1
0
Fork 0
mirror of https://gitee.com/dlmu-cone/bf_original_balance_chassis synced 2026-07-24 11:37:45 +08:00
Code Issues Packages Projects Releases Wiki Activity

修复了djimotor发送时的致命错误,编写了shoot app的框架

Browse Source
This commit is contained in:
NeoZng
2022-12-04 20:26:15 +08:00
parent 8e32fc0e6f
commit e94bb504b8
12 changed files with 254 additions and 92 deletions
Download Patch File Download Diff File Expand all files Collapse all files

8
modules/imu/ins_task.c
View File

@@ -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]);