robofish/rm_balance
2
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Merge branch 'MC_02' of http://gitea.qutrobot.top/robofish/rm_balance into MC_02

Browse Source
This commit is contained in:
xxxxm 2026-03-20 14:58:18 +08:00
commit 02cc4003d8
1 changed files with 17 additions and 11 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

28
User/module/cmd/cmd.c
View File

@ -207,17 +207,23 @@ static void CMD_NUC_BuildGimbalCmd(CMD_t *ctx) {
}
/* 使用AI提供的云台控制数据 */
// if (ctx->input.nuc.mode!=0) {
ctx->output.gimbal.cmd.mode = GIMBAL_MODE_AI_CONTROL;
ctx->output.gimbal.cmd.mode_ai = (uint8_t)ctx->input.nuc.mode; /* 直接使用AI模式细分字段 */
ctx->output.gimbal.cmd.setpoint_yaw = ctx->input.nuc.gimbal.setpoint.yaw;
ctx->output.gimbal.cmd.setpoint_pit = ctx->input.nuc.gimbal.setpoint.pit;
ctx->output.gimbal.cmd.ff_vel_yaw = ctx->input.nuc.gimbal.vel.yaw;
ctx->output.gimbal.cmd.ff_vel_pit = ctx->input.nuc.gimbal.vel.pit;
ctx->output.gimbal.cmd.ff_accl_yaw = ctx->input.nuc.gimbal.accl.yaw;
ctx->output.gimbal.cmd.ff_accl_pit = ctx->input.nuc.gimbal.accl.pit;
// }
if (ctx->input.nuc.mode != 0) {
/* AI有目标：进入自瞄模式，下发setpoint和前馈 */
ctx->output.gimbal.cmd.mode = GIMBAL_MODE_AI_CONTROL;
ctx->output.gimbal.cmd.mode_ai = (uint8_t)ctx->input.nuc.mode;
ctx->output.gimbal.cmd.setpoint_yaw = ctx->input.nuc.gimbal.setpoint.yaw;
ctx->output.gimbal.cmd.setpoint_pit = ctx->input.nuc.gimbal.setpoint.pit;
ctx->output.gimbal.cmd.ff_vel_yaw = ctx->input.nuc.gimbal.vel.yaw;
ctx->output.gimbal.cmd.ff_vel_pit = ctx->input.nuc.gimbal.vel.pit;
ctx->output.gimbal.cmd.ff_accl_yaw = ctx->input.nuc.gimbal.accl.yaw;
ctx->output.gimbal.cmd.ff_accl_pit = ctx->input.nuc.gimbal.accl.pit;
} else {
/* AI丢失目标(mode==0)：保持普通模式，不使用全零的AI数据 */
ctx->output.gimbal.cmd.mode = GIMBAL_MODE_ABSOLUTE;
ctx->output.gimbal.cmd.mode_ai = 0;
ctx->output.gimbal.cmd.delta_yaw = 0.0f;
ctx->output.gimbal.cmd.delta_pit = 0.0f;
}
}
#endif /* CMD_ENABLE_SRC_NUC && CMD_ENABLE_MODULE_GIMBAL */