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

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Zorua
2026-03-17 19:44:51 +08:00
parent 4ac9cba1d7
commit caec6bb497
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)