4310pitch driver bug solved

application/chassis/chassis.c

@@ -113,14 +113,14 @@ void ChassisInit()
         .can_init_config.can_handle   = &hcan1,
         .controller_param_init_config = {
             .angle_PID = {
-                .Kp                = 12,
+                .Kp                = 35,
-                .Ki                = 0.2,
+                .Ki                = 0.25,
                 .Kd                = 0,
                 .CoefA             = 3,
                 .CoefB             = 0.1,
                 .Improve           = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement | PID_DerivativeFilter | PID_ChangingIntegrationRate,
-                .IntegralLimit     = 1000,
+                .IntegralLimit     = 1500,
-                .MaxOut            = 5000,
+                .MaxOut            = 6000,
                 .Derivative_LPF_RC = 0.001,
                 .DeadBand          = 0.5,
             },
@@ -151,7 +151,7 @@ void ChassisInit()
     motor_steering_lb                                   = DJIMotorInit(&chassis_motor_steering_config);
 
     PID_Init_Config_s chassis_follow_pid_conf = {
-        .Kp                = 1.05, // 6
+        .Kp                = 0.95, // 6
         .Ki                = 0,
         .Kd                = 0.1, // 0.495
          .DeadBand          = 0.5f,// 启用死区，值为0.5度

application/cmd/robot_cmd.c

@@ -203,14 +203,13 @@ static void RemoteControlSet()
     // 左侧开关状态为[下],或视觉未识别到目标,纯遥控器拨杆控制
     if (switch_is_down(rc_data[TEMP].rc.switch_left) )
     { // 按照摇杆的输出大小进行角度增量,增益系数需调整
-        gimbal_cmd_send.yaw += 0.005f * (float)rc_data[TEMP].rc.rocker_l_;
+        gimbal_cmd_send.yaw += 0.005f * (float)rc_data[TEMP].rc.rocker_r_;
-        gimbal_cmd_send.pitch += 0.001f * (float)rc_data[TEMP].rc.rocker_l1;
+        gimbal_cmd_send.pitch += 0.001f * (float)rc_data[TEMP].rc.rocker_r1;
     }
     // 云台软件限位
-
     // 底盘参数,目前没有加入小陀螺(调试似乎暂时没有必要),系数需要调整
-    chassis_cmd_send.vx = 0.15f * (float)rc_data[TEMP].rc.rocker_r_; // _水平方向
+    chassis_cmd_send.vx = 0.15f * (float)rc_data[TEMP].rc.rocker_l_; // _水平方向
-    chassis_cmd_send.vy = 0.15f * (float)rc_data[TEMP].rc.rocker_r1; // 1数值方向
+    chassis_cmd_send.vy = 0.15f * (float)rc_data[TEMP].rc.rocker_l1; // 1数值方向
 
     // // 发射参数
     // if (switch_is_up(rc_data[TEMP].rc.switch_right)) // 右侧开关状态[上],弹舱打开

application/gimbal/gimbal.c

@@ -26,10 +26,10 @@ void GimbalInit()
         },
         .controller_param_init_config = {
             .angle_PID = {
-                //.Kp = 0.685, // 8
+                //.Kp = 0.785, // 8
-                .Kp = 0.585, // 8
+                .Kp = 3, // 8
                 //.Ki = 0.315,
-                .Ki = 0.25,
+                .Ki = 0.45,
                 .Kd = 0.03,
                 //.DeadBand = 0.1
                 .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement | PID_DerivativeFilter | PID_ChangingIntegrationRate,
@@ -40,9 +40,9 @@ void GimbalInit()
                 .Derivative_LPF_RC = 0.001
             },
             .speed_PID = {
-               .Kp = 8000,  // 50
+               .Kp = 500,  // 50
                 //.Kp = 5000,  // 50
-                .Ki = 5000, // 200
+                .Ki = 2000, // 200
                 .Kd = 0,
                 .CoefB = 1,
                 .CoefA = 10,
@@ -132,7 +132,18 @@ void GimbalTask()
         DJIMotorChangeFeed(pitch_motor, SPEED_LOOP, OTHER_FEED);
         DJIMotorSetRef(yaw_motor, gimbal_cmd_recv.yaw); // yaw和pitch会在robot_cmd中处理好多圈和单圈
         DJIMotorSetRef(pitch_motor, gimbal_cmd_recv.pitch);
-        break;
+            // // 根据底盘速度进行补偿，保持云台稳定
+            // // 这里简化处理，实际应用中可能需要更复杂的补偿算法
+            // float yaw_ref = gimbal_cmd_recv.yaw;
+            // float pitch_ref = gimbal_cmd_recv.pitch;
+            //
+            // // 当底盘移动时，云台需要保持相对稳定
+            // // 这里可以根据底盘速度调整云台的控制参考值
+            // // 例如，当底盘向前移动时，云台可能需要稍微向后调整以保持稳定
+            //
+            // DJIMotorSetRef(yaw_motor, yaw_ref); // yaw和pitch会在robot_cmd中处理好多圈和单圈
+            // DJIMotorSetRef(pitch_motor, pitch_ref);
+            break;
     // 云台自由模式,使用编码器反馈,底盘和云台分离,仅云台旋转,一般用于调整云台姿态(英雄吊射等)/能量机关
     case GIMBAL_FREE_MODE: // 后续删除,或加入云台追地盘的跟随模式(响应速度更快)
         DJIMotorEnable(yaw_motor);
@@ -159,4 +170,13 @@ void GimbalTask()
     // gimbal_feedback_data.yaw_motor_total_angle = gimba_IMU_data->YawTotalAngle;
     // 推送消息
     PubPushMessage(gimbal_pub, (void *)&gimbal_feedback_data);
-}
+}
+// /**
+//  * @brief 获取云台IMU数据指针
+//  *
+//  * @return attitude_t* 云台IMU数据指针
+//  */
+// attitude_t *GetGimbalIMUData()
+// {
+//     return gimba_IMU_data;
+// }

application/gimbal/gimbal.h

@@ -1,6 +1,6 @@
 #ifndef GIMBAL_H
 #define GIMBAL_H
-
+#include "../modules/imu/ins_task.h"
 /**
  * @brief 初始化云台,会被RobotInit()调用
  * 
@@ -9,8 +9,8 @@ void GimbalInit();
 
 /**
  * @brief 云台任务
- * 
+ * @return attitude_t* 云台IMU数据指针
  */
 void GimbalTask();
-
+//attitude_t *GetGimbalIMUData();
 #endif // GIMBAL_H

modules/motor/DJImotor/dji_motor.c

@@ -24,10 +24,12 @@ 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}},
 };
-
+static CANInstance DM_sender_assignment[1] = {
+    [0] = {.can_handle = &hcan2, .txconf.StdId = 0x3FE, .txconf.IDE = CAN_ID_STD, .txconf.RTR = CAN_RTR_DATA, .txconf.DLC = 0x08, .tx_buff = {0}}
+};
 /**
  * @brief 6个用于确认是否有电机注册到sender_assignment中的标志位,防止发送空帧,此变量将在DJIMotorControl()使用
  *        flag的初始化在 MotorSenderGrouping()中进行
@@ -326,10 +328,10 @@ void DJIMotorControl()
         group = motor->sender_group;
         num = motor->message_num;
 
-        if (i == 1)
+        if (i == 1)//pitch轴电机对应i值为1,需要特殊处理,因为它的发送顺序和其他电机不同,在同一帧中与其他电机的高八位和低八位相反
         {
-            sender_assignment[4].tx_buff[6] = (uint8_t)(set & 0x00ff); // 高八位
+            DM_sender_assignment[0].tx_buff[6] = (uint8_t)(set & 0x00ff); // 高八位
-            sender_assignment[4].tx_buff[7] = (uint8_t)(set >> 8); // 低八位
+            DM_sender_assignment[0].tx_buff[7] = (uint8_t)(set >> 8); // 低八位
         }
         else
         {
@@ -348,6 +350,7 @@ void DJIMotorControl()
         if (sender_enable_flag[i])
         {
             CANTransmit(&sender_assignment[i], 1);
+            CANTransmit(&DM_sender_assignment[0], 1);//达妙电机单独一帧发送
         }
     }
 }

modules/remote/remote_control.c

@@ -20,13 +20,32 @@ static DaemonInstance *rc_daemon_instance;
  * @brief 矫正遥控器摇杆的值,超过660或者小于-660的值都认为是无效值,置0
  *
  */
-static void RectifyRCjoystick()
+// static void RectifyRCjoystick()
+// {
+//     for (uint8_t i = 0; i < 5; ++i)
+//         if (abs(*(&rc_ctrl[TEMP].rc.rocker_l_ + i)) > 660)
+//             *(&rc_ctrl[TEMP].rc.rocker_l_ + i) = 0;
+// }
+static void RectifyRCjoystick()//左遥杆水平向右限幅不够，因为下面的+3，将+3删除就用上面的
 {
+    int16_t *rocker_ptr = &rc_ctrl[TEMP].rc.rocker_l_;
     for (uint8_t i = 0; i < 5; ++i)
-        if (abs(*(&rc_ctrl[TEMP].rc.rocker_l_ + i)) > 660)
+    {
-            *(&rc_ctrl[TEMP].rc.rocker_l_ + i) = 0;
+        if (i == 0) // 左遥杆水平方向
+        {
+            // 增加右向最大值到700，左向保持660不变
+            if (rocker_ptr[i] > 700)
+                rocker_ptr[i] = 700;
+            else if (rocker_ptr[i] < -660)
+                rocker_ptr[i] = -660;
+        }
+        else // 其他通道保持原限制
+        {
+            if (abs(rocker_ptr[i]) > 660)
+                rocker_ptr[i] = 0;
+        }
+    }
 }
-
 /**
  * @brief 遥控器数据解析
  *