54 lines
1.1 KiB
YAML
54 lines
1.1 KiB
YAML
- delay: 0
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description: 遥控器控制
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freq_control: false
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function: Task_rc
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name: rc
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stack: 256
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- delay: 0
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description: 陀螺仪接收解算任务
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freq_control: false
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function: Task_atti_esti
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name: atti_esti
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stack: 256
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- delay: 0
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description: 测试任务
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freq_control: true
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frequency: 1000
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function: Task_test
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name: test
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stack: 256
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- delay: 0
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description: 模拟命令行
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freq_control: false
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function: Task_cli
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name: cli
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stack: 256
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- delay: 0
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description: 系统状态监控
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freq_control: true
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frequency: 100
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function: Task_monitor
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name: monitor
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stack: 256
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- delay: 0
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description: 解析各种控制命令，最后将最终命令输出
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freq_control: true
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frequency: 500
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function: Task_cmd
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name: cmd
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stack: 256
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- delay: 0
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description: 四足控制
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freq_control: true
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frequency: 800
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function: Task_ctrl_leg
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name: ctrl_leg
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stack: 512
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- delay: 0
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description: 底盘控制，接受反馈和命令，计算输出给到两测腿控制
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freq_control: true
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frequency: 500
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function: Task_ctrl_chassis
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name: ctrl_chassis
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stack: 512
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