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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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modules/imu/ins_task.md
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## 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.