robofish/rm_balance
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fix 方向

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Robofish 2026-03-15 18:42:50 +08:00
parent 2427e36bba
commit 513254e56f
1 changed files with 1 additions and 1 deletions
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User/module/balance_chassis.c
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@ -771,7 +771,7 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
float gimbal_offset = c->feedback.yaw.rotor_abs_angle - c->param->mech.mech_zero_yaw; float gimbal_offset = c->feedback.yaw.rotor_abs_angle - c->param->mech.mech_zero_yaw;
float world_vx = c_cmd->move_vec.vx * c->param->rotor_ctrl.max_trans_speed; float world_vx = c_cmd->move_vec.vx * c->param->rotor_ctrl.max_trans_speed;
float world_vy = c_cmd->move_vec.vy * c->param->rotor_ctrl.max_trans_speed; float world_vy = c_cmd->move_vec.vy * c->param->rotor_ctrl.max_trans_speed;
c->chassis_state.target_velocity_x = world_vx * sinf(gimbal_offset) - world_vy * cosf(gimbal_offset); c->chassis_state.target_velocity_x = -world_vx * sinf(gimbal_offset) + world_vy * cosf(gimbal_offset);
c->chassis_state.last_target_velocity_x = c->chassis_state.target_velocity_x; c->chassis_state.last_target_velocity_x = c->chassis_state.target_velocity_x;
c->chassis_state.target_x += c->chassis_state.target_velocity_x * c->dt; c->chassis_state.target_x += c->chassis_state.target_velocity_x * c->dt;
} else { } else {