TuxMonkey/half-steering-basic-framework
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方案——赛场_1.1

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guoxy06
2026-04-03 03:22:10 +08:00
parent 2782942158
commit a6742dc48b
4 changed files with 55 additions and 10 deletions
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4
application/gimbal/gimbal.c
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@@ -15,7 +15,7 @@ static Subscriber_t *gimbal_sub; // cmd控制消息订阅者
static Gimbal_Upload_Data_s gimbal_feedback_data; // 回传给cmd的云台状态信息
static Gimbal_Ctrl_Cmd_s gimbal_cmd_recv; // 来自cmd的控制信息
static float last_yaw_angle = 0.0f; // 保护模式前的yaw角度
// static float last_pitch_angle = 0.0f; // 保护模式前的pitch角度
static float last_pitch_angle = 0.0f; // 保护模式前的pitch角度
uint8_t in_protection_mode = 0; // 是否在保护模式
void GimbalInit()
{
@@ -148,7 +148,7 @@ void GimbalTask()
// 进入保护模式时记录当前角度
if (!in_protection_mode) {
last_yaw_angle = gimba_IMU_data->YawTotalAngle;
// last_pitch_angle = gimba_IMU_data->Pitch;
last_pitch_angle = gimba_IMU_data->Pitch;
in_protection_mode = 1;
}
DJIMotorStop(yaw_motor);