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这一套要留好，很好用

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Robofish 2025-01-16 02:17:32 +08:00
parent 9923566a10
commit 8e7ac722e6
5 changed files with 8157 additions and 8141 deletions
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17
MDK-ARM/DevC.uvoptx
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@ -392,6 +392,21 @@
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>shoot</ItemText> <ItemText>shoot</ItemText>
</Ww> </Ww>
<Ww>
<count>7</count>
<WinNumber>1</WinNumber>
<ItemText>ai</ItemText>
</Ww>
<Ww>
<count>8</count>
<WinNumber>1</WinNumber>
<ItemText>cmd</ItemText>
</Ww>
<Ww>
<count>9</count>
<WinNumber>1</WinNumber>
<ItemText>rc</ItemText>
</Ww>
</WatchWindow1> </WatchWindow1>
<Tracepoint> <Tracepoint>
<THDelay>0</THDelay> <THDelay>0</THDelay>
@ -1255,7 +1270,7 @@
<Group> <Group>
<GroupName>User/bsp</GroupName> <GroupName>User/bsp</GroupName>
<tvExp>1</tvExp> <tvExp>0</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<cbSel>0</cbSel> <cbSel>0</cbSel>
<RteFlg>0</RteFlg> <RteFlg>0</RteFlg>

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MDK-ARM/DevC/DevC.axf
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16267
MDK-ARM/DevC/DevC.hex
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2
User/module/chassis.c
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@ -264,7 +264,7 @@ int8_t Chassis_Control(Chassis_t *c, const CMD_ChassisCmd_t *c_cmd,
case CHASSIS_MODE_INDENPENDENT: /* 独立模式控制向量与运动向量相等 */ case CHASSIS_MODE_INDENPENDENT: /* 独立模式控制向量与运动向量相等 */
c->move_vec.vx = c_cmd->ctrl_vec.vx; c->move_vec.vx = c_cmd->ctrl_vec.vx;
c->move_vec.vy = c_cmd->ctrl_vec.vx; c->move_vec.vy = c_cmd->ctrl_vec.vy;
break; break;
case CHASSIS_MODE_OPEN: case CHASSIS_MODE_OPEN:

12
User/module/gimbal.c
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@ -130,12 +130,14 @@ int8_t Gimbal_Control(Gimbal_t *g, CMD_GimbalCmd_t *g_cmd, uint32_t now) {
Gimbal_SetMode(g, g_cmd->mode); Gimbal_SetMode(g, g_cmd->mode);
/* yaw坐标正方向与遥控器操作逻辑相反 */ /* yaw坐标正方向与遥控器操作逻辑相反 */
// g_cmd->delta_eulr.pit = g_cmd->delta_eulr.pit;
// if (g->param->pit_ctrl_reverse){
// g_cmd->delta_eulr.yaw = g_cmd->delta_eulr.yaw;
// }else{
// g_cmd->delta_eulr.yaw = -g_cmd->delta_eulr.yaw;
// }
g_cmd->delta_eulr.pit = g_cmd->delta_eulr.pit; g_cmd->delta_eulr.pit = g_cmd->delta_eulr.pit;
if (g->param->pit_ctrl_reverse){ g_cmd->delta_eulr.yaw = -g_cmd->delta_eulr.yaw;
g_cmd->delta_eulr.yaw = -g_cmd->delta_eulr.yaw;
}else{
g_cmd->delta_eulr.yaw = g_cmd->delta_eulr.yaw;
}
/* 处理yaw控制命令 */ /* 处理yaw控制命令 */
CircleAdd(&(g->setpoint.eulr.yaw), g_cmd->delta_eulr.yaw, M_2PI); CircleAdd(&(g->setpoint.eulr.yaw), g_cmd->delta_eulr.yaw, M_2PI);