TuxMonkey/half-steering-basic-framework
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Zorua
2026-01-17 16:54:38 +08:00
parent 71375209d0
commit 80c832a16b
3 changed files with 5 additions and 5 deletions
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7
application/gimbal/gimbal.c
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@@ -56,7 +56,7 @@ void GimbalInit()
.speed_feedback_source = OTHER_FEED,
.outer_loop_type = ANGLE_LOOP,
.close_loop_type = ANGLE_LOOP | SPEED_LOOP,
.motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
.motor_reverse_flag = MOTOR_DIRECTION_REVERSE,
},
.motor_type = GM6020};
// PITCH
@@ -151,8 +151,9 @@ void GimbalTask()
// 设置反馈数据,主要是imu和yaw的ecd
gimbal_feedback_data.gimbal_imu_data = *gimba_IMU_data;
// gimbal_feedback_data.yaw_motor_single_round_angle = yaw_motor->measure.angle_single_round;
gimbal_feedback_data.yaw_motor_single_round_angle = yaw_motor->measure.total_angle;
gimbal_feedback_data.yaw_motor_single_round_angle = yaw_motor->measure.angle_single_round;
gimbal_feedback_data.yaw_motor_total_angle = yaw_motor->measure.total_angle;
// gimbal_feedback_data.yaw_motor_total_angle = gimba_IMU_data->YawTotalAngle;
// 推送消息
PubPushMessage(gimbal_pub, (void *)&gimbal_feedback_data);
}