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fix gimbal

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Robofish 2026-03-17 11:00:10 +08:00
parent 722293c71a
commit 3c4f62e041
2 changed files with 4 additions and 5 deletions
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5
User/module/config.c
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@ -501,14 +501,13 @@ Config_RobotParam_t robot_config = {
.rc_mode_map = {
#if CMD_ENABLE_MODULE_GIMBAL
.gimbal_sw_up = GIMBAL_MODE_RELAX,
.gimbal_sw_mid = GIMBAL_MODE_RECOVER,
.gimbal_sw_mid = GIMBAL_MODE_RELATIVE,
.gimbal_sw_down = GIMBAL_MODE_RELATIVE,
#endif
#if CMD_ENABLE_MODULE_BALANCE_CHASSIS
.balance_sw_up = CHASSIS_MODE_RELAX,
// .balance_sw_mid = CHASSIS_MODE_WHELL_LEG_BALANCE,
.balance_sw_mid = CHASSIS_MODE_RELAX,
.balance_sw_mid = CHASSIS_MODE_WHELL_LEG_BALANCE,
.balance_sw_down = CHASSIS_MODE_CLIMB_STEP,
#endif
},
},

4
User/module/gimbal.h
View File

@ -28,10 +28,10 @@ extern "C" {
typedef enum {
GIMBAL_MODE_RELAX, /* 放松模式，电机不输出。一般情况云台初始化之后的模式 */
GIMBAL_MODE_RECOVER, /* 回中模式，使用编码器双环PID控制yaw回零点，pitch锁定限位中心 */
GIMBAL_MODE_ABSOLUTE, /* 绝对坐标系控制，控制在空间内的绝对姿态 */
GIMBAL_MODE_RELATIVE, /* 相对坐标系控制，控制相对于底盘的姿态 */
GIMBAL_MODE_AI_CONTROL /* AI控制模式，直接接受AI下发的目标角度 */
GIMBAL_MODE_AI_CONTROL, /* AI控制模式，直接接受AI下发的目标角度 */
GIMBAL_MODE_RECOVER /* 回中模式，使用编码器双环PID控制yaw回零点，pitch锁定限位中心 */
} Gimbal_Mode_t;
/* UI 导出结构（供 referee 系统绘制） */