noaddrecover
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@ -1050,7 +1050,7 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
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* 无速度指令时：位移+速度双环控制，积分保持位置锁定
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* 位移误差钳位到±2m，防止积分漂移过大 */
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if (fabsf(c->chassis_state.target_velocity_x) > 0.01f) {
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c->chassis_state.target_x = c->chassis_state.position_x;
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c->chassis_state.target_x = c->chassis_state.position_x+0.8f; /* 直接锁定在当前位置，消除位移误差 */
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} else {
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c->chassis_state.target_x += c->chassis_state.target_velocity_x * c->dt;
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}
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@ -5,6 +5,7 @@
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/* Includes ----------------------------------------------------------------- */
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#include "module/config.h"
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#include "module/balance_chassis.h"
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#include "module/gimbal.h"
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#include <stdbool.h>
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@ -81,9 +82,6 @@ Config_RobotParam_t robot_config = {
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.yaw = -1.0f,
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.pit = 0.85f,
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},
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.recover = {
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.yaw_mech_zero = 0.0f, /* yaw编码器机械零点，需要实测标定 */
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},
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.low_pass_cutoff_freq = {
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.out = -1.0f,
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.gyro = 1000.0f,
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@ -502,13 +500,14 @@ Config_RobotParam_t robot_config = {
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.rc_mode_map = {
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#if CMD_ENABLE_MODULE_GIMBAL
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.gimbal_sw_up = GIMBAL_MODE_RELAX,
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.gimbal_sw_mid = GIMBAL_MODE_RELATIVE,
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.gimbal_sw_mid = GIMBAL_MODE_ABSOLUTE,
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.gimbal_sw_down = GIMBAL_MODE_RELATIVE,
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#endif
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#if CMD_ENABLE_MODULE_BALANCE_CHASSIS
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.balance_sw_up = CHASSIS_MODE_RELAX,
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.balance_sw_mid = CHASSIS_MODE_WHELL_LEG_BALANCE,
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.balance_sw_down = CHASSIS_MODE_BALANCE_ROTOR,
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// .balance_sw_mid = CHASSIS_MODE_WHELL_LEG_BALANCE,
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.balance_sw_mid = CHASSIS_MODE_RELAX, // 先关闭轮腿平衡，避免不熟悉操作导致摔倒
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.balance_sw_down = CHASSIS_MODE_WHELL_LEG_BALANCE,
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#endif
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},
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},
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@ -218,7 +218,6 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd, Gimbal_AI_t *g_ai) {
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case GIMBAL_MODE_RELAX:
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g->out.yaw = 0.0f;
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g->out.pit = 0.0f;
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/* fallthrough - AI控制模式也需要执行PID计算 */
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break;
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case GIMBAL_MODE_ABSOLUTE:
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case GIMBAL_MODE_RELATIVE:
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@ -233,7 +232,6 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd, Gimbal_AI_t *g_ai) {
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g->feedback.imu.gyro.y, 0.f, g->dt);
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break;
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break;
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case GIMBAL_MODE_AI_CONTROL:
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/* --- YAW --- */
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// 位置环: Kp * (pos_ref - pos_fdb)
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@ -246,43 +244,15 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd, Gimbal_AI_t *g_ai) {
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g->feedback.imu.gyro.z, 0.0f, g->dt)
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+ g_cmd->ff_accl_yaw * GIMBAL_YAW_INERTIA; // 加速度前馈: J * acc
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/* --- PITCH --- */
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/* --- PITCH --- (反馈轴与 ABSOLUTE 模式一致: eulr.rol / gyro.y) */
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pit_omega_set_point = PID_Calc(&(g->pid.aimbot.pit_angle),
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g->setpoint.eulr.pit,
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g->feedback.imu.eulr.pit, 0.0f, g->dt);
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g->feedback.imu.eulr.rol, 0.0f, g->dt);
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g->out.pit = PID_Calc(&(g->pid.aimbot.pit_omega),
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pit_omega_set_point + g_cmd->ff_vel_pit,
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g->feedback.imu.gyro.x, 0.0f, g->dt)
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g->feedback.imu.gyro.y, 0.0f, g->dt)
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+ g_cmd->ff_accl_pit * GIMBAL_PIT_INERTIA; // 加速度前馈: J * acc
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break;
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case GIMBAL_MODE_RECOVER: {
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/* --- YAW: 编码器双环PID，双零点选近 --- */
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float yaw_enc = g->feedback.motor.yaw.rotor_abs_angle;
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float zero0 = g->param->recover.yaw_mech_zero;
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float zero1 = zero0 + M_PI;
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if (zero1 >= M_2PI) zero1 -= M_2PI;
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/* 计算到两个零点的圆周距离，选近的 */
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float err0 = fabsf(CircleError(zero0, yaw_enc, M_2PI));
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float err1 = fabsf(CircleError(zero1, yaw_enc, M_2PI));
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float yaw_target = (err0 <= err1) ? zero0 : zero1;
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yaw_omega_set_point = PID_Calc(&(g->pid.yaw_angle), yaw_target,
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yaw_enc, 0.0f, g->dt);
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g->out.yaw = PID_Calc(&(g->pid.yaw_omega), yaw_omega_set_point,
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g->feedback.motor.yaw.rotor_speed, 0.0f, g->dt);
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/* --- PITCH: 编码器双环PID，锁定限位中心 --- */
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float pit_center = 0.5f * (g->limit.pit.max + g->limit.pit.min);
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float pit_enc = g->feedback.motor.pit.rotor_abs_angle;
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pit_omega_set_point = PID_Calc(&(g->pid.pit_angle), pit_center,
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pit_enc, 0.0f, g->dt);
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g->out.pit = PID_Calc(&(g->pid.pit_omega), pit_omega_set_point,
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g->feedback.motor.pit.rotor_speed, 0.0f, g->dt);
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break;
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}
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}
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/* 输出滤波 */
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@ -30,8 +30,7 @@ typedef enum {
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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 */
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GIMBAL_MODE_ABSOLUTE, /* 绝对坐标系控制，控制在空间内的绝对姿态 */
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GIMBAL_MODE_RELATIVE, /* 相对坐标系控制，控制相对于底盘的姿态 */
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GIMBAL_MODE_AI_CONTROL, /* AI控制模式，直接接受AI下发的目标角度 */
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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 */
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GIMBAL_MODE_AI_CONTROL /* AI控制模式，直接接受AI下发的目标角度 */
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} Gimbal_Mode_t;
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/* UI 导出结构（供 referee 系统绘制） */
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@ -98,11 +97,6 @@ typedef struct {
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float pit; /* pitch轴机械限位行程 -1表示无限位*/
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} travel;
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/* Recover模式参数 */
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struct {
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float yaw_mech_zero; /* yaw机械零点（编码器角度） */
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} recover;
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} Gimbal_Params_t;
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/* 云台反馈数据的结构体，包含反馈控制用的反馈数据 */
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