TuxMonkey/bf_original_balance_chassis
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ins_task

neozng1@hnu.edu.cn

硬触发流程

image-20221113212706633

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

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.

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