From 006ee185e9ab5352473e79e83f7db1834196ef44 Mon Sep 17 00:00:00 2001 From: Robofish <1683502971@qq.com> Date: Thu, 28 Aug 2025 21:38:00 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9can?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- assets/User_code/device/dm_imu.c | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/assets/User_code/device/dm_imu.c b/assets/User_code/device/dm_imu.c index f90aecf..c444e26 100644 --- a/assets/User_code/device/dm_imu.c +++ b/assets/User_code/device/dm_imu.c @@ -7,6 +7,7 @@ #include "bsp/can.h" #include "bsp/time.h" +#include "component/user_math.h" #include /* Private define ----------------------------------------------------------- */ @@ -86,13 +87,12 @@ static int8_t DM_IMU_ParseEulerData(DM_IMU_t *imu, uint8_t *data, uint8_t len) { uint16_t pit_raw = (data[3] << 8) | data[2]; uint16_t yaw_raw = (data[5] << 8) | data[4]; uint16_t rol_raw = (data[7] << 8) | data[6]; - imu->data.euler.pit = uint_to_float(pit_raw, PITCH_CAN_MIN, PITCH_CAN_MAX, 16); - imu->data.euler.yaw = uint_to_float(yaw_raw, YAW_CAN_MIN, YAW_CAN_MAX, 16); - imu->data.euler.rol = uint_to_float(rol_raw, ROLL_CAN_MIN, ROLL_CAN_MAX, 16); + imu->data.euler.pit = uint_to_float(pit_raw, PITCH_CAN_MIN, PITCH_CAN_MAX, 16) * M_DEG2RAD_MULT; + imu->data.euler.yaw = uint_to_float(yaw_raw, YAW_CAN_MIN, YAW_CAN_MAX, 16) * M_DEG2RAD_MULT; + imu->data.euler.rol = uint_to_float(rol_raw, ROLL_CAN_MIN, ROLL_CAN_MAX, 16) * M_DEG2RAD_MULT; return DEVICE_OK; } - /** * @brief 解析四元数数据 */