TuxMonkey/bf_original_balance_chassis
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添加均值滤波,修改HT电机控制方式,添加了一些文档

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NeoZng
2023-05-29 09:48:07 +08:00
parent 7403943814
commit ff5028036a
14 changed files with 272 additions and 125 deletions
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2
modules/imu/ins_task.c
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@@ -99,7 +99,7 @@ attitude_t *INS_Init(void)
// noise of accel is relatively big and of high freq,thus lpf is used
INS.AccelLPF = 0.0085;
DWT_GetDeltaT64(&INS_DWT_Count);
DWT_GetDeltaT(&INS_DWT_Count);
return (attitude_t *)&INS.Gyro; // @todo: 这里偷懒了,不要这样做! 修改INT_t结构体可能会导致异常,待修复.
}