TuxMonkey/half-steering-basic-framework
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6020pitch driver

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Zorua
2026-03-17 19:44:51 +08:00
committed by guoxy06
parent 0235c428c5
commit 31eef65a6d
6 changed files with 32 additions and 34 deletions
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4
modules/algorithm/QuaternionEKF.c
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@@ -199,8 +199,8 @@ void IMU_QuaternionEKF_Update(float gx, float gy, float gz, float ax, float ay,
// 利用四元数反解欧拉角
QEKF_INS.Yaw = atan2f(2.0f * (QEKF_INS.q[0] * QEKF_INS.q[3] + QEKF_INS.q[1] * QEKF_INS.q[2]), 2.0f * (QEKF_INS.q[0] * QEKF_INS.q[0] + QEKF_INS.q[1] * QEKF_INS.q[1]) - 1.0f) * 57.295779513f;
QEKF_INS.Pitch = atan2f(2.0f * (QEKF_INS.q[0] * QEKF_INS.q[1] + QEKF_INS.q[2] * QEKF_INS.q[3]), 2.0f * (QEKF_INS.q[0] * QEKF_INS.q[0] + QEKF_INS.q[3] * QEKF_INS.q[3]) - 1.0f) * 57.295779513f;
QEKF_INS.Roll = asinf(-2.0f * (QEKF_INS.q[1] * QEKF_INS.q[3] - QEKF_INS.q[0] * QEKF_INS.q[2])) * 57.295779513f;
QEKF_INS.Pitch = -asinf(-2.0f * (QEKF_INS.q[1] * QEKF_INS.q[3] - QEKF_INS.q[0] * QEKF_INS.q[2])) * 57.295779513f;
QEKF_INS.Roll = atan2f(2.0f * (QEKF_INS.q[0] * QEKF_INS.q[1] + QEKF_INS.q[2] * QEKF_INS.q[3]), 2.0f * (QEKF_INS.q[0] * QEKF_INS.q[0] + QEKF_INS.q[3] * QEKF_INS.q[3]) - 1.0f) * 57.295779513f;
// get Yaw total, yaw数据可能会超过360,处理一下方便其他功能使用(如小陀螺)
if (QEKF_INS.Yaw - QEKF_INS.YawAngleLast > 180.0f)

18
modules/motor/DJImotor/dji_motor.c
View File

@@ -24,7 +24,7 @@ static CANInstance sender_assignment[6] = {
[1] = {.can_handle = &hcan1, .txconf.StdId = 0x200, .txconf.IDE = CAN_ID_STD, .txconf.RTR = CAN_RTR_DATA, .txconf.DLC = 0x08, .tx_buff = {0}},
[2] = {.can_handle = &hcan1, .txconf.StdId = 0x2ff, .txconf.IDE = CAN_ID_STD, .txconf.RTR = CAN_RTR_DATA, .txconf.DLC = 0x08, .tx_buff = {0}},
[3] = {.can_handle = &hcan2, .txconf.StdId = 0x1ff, .txconf.IDE = CAN_ID_STD, .txconf.RTR = CAN_RTR_DATA, .txconf.DLC = 0x08, .tx_buff = {0}},
[4] = {.can_handle = &hcan2, .txconf.StdId = 0x3FE, .txconf.IDE = CAN_ID_STD, .txconf.RTR = CAN_RTR_DATA, .txconf.DLC = 0x08, .tx_buff = {0}},
[4] = {.can_handle = &hcan2, .txconf.StdId = 0x200, .txconf.IDE = CAN_ID_STD, .txconf.RTR = CAN_RTR_DATA, .txconf.DLC = 0x08, .tx_buff = {0}},
[5] = {.can_handle = &hcan2, .txconf.StdId = 0x2ff, .txconf.IDE = CAN_ID_STD, .txconf.RTR = CAN_RTR_DATA, .txconf.DLC = 0x08, .tx_buff = {0}},
};
@@ -321,25 +321,15 @@ void DJIMotorControl()
// 获取最终输出
set = (int16_t)pid_ref;
// 分组填入发送数据
group = motor->sender_group;
num = motor->message_num;
if (i == 1)
{
sender_assignment[4].tx_buff[6] = (uint8_t)(set & 0x00ff); // 高八位
sender_assignment[4].tx_buff[7] = (uint8_t)(set >> 8); // 低八位
}
else
{
sender_assignment[group].tx_buff[2 * num] = (uint8_t)(set >> 8); // 低八位
sender_assignment[group].tx_buff[2 * num + 1] = (uint8_t)(set & 0x00ff); // 高八位
}
sender_assignment[group].tx_buff[2 * num] = (uint8_t)(set >> 8); // 低八位
sender_assignment[group].tx_buff[2 * num + 1] = (uint8_t)(set & 0x00ff); // 高八位
// 若该电机处于停止状态,直接将buff置零
if (motor->stop_flag == MOTOR_STOP)
memset(sender_assignment[group].tx_buff + 2 * num, 0, 2u);
memset(sender_assignment[group].tx_buff + 2 * num, 0, sizeof(uint16_t));
}
// 遍历flag,检查是否要发送这一帧报文