robofish/rm_balance
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

改发送

Browse Source
This commit is contained in:
Robofish 2025-10-06 20:37:54 +08:00
parent bac96f42e6
commit 5207a45727
2 changed files with 11 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
User/component/user_math.h
View File

@ -25,6 +25,10 @@ extern "C" {
#define M_PI 3.14159265358979323846f
#endif
#ifndef M_PI_2
#define M_PI_2 1.57079632679489661923f
#endif
#ifndef M_2PI
#define M_2PI 6.28318530717958647692f
#endif

13
User/task/imu.c
View File

@ -6,6 +6,7 @@
/* Includes ----------------------------------------------------------------- */
#include "task/user_task.h"
/* USER INCLUDE BEGIN */
#include "component/user_math.h"
#include "bsp/can.h"
#include "bsp/time.h"
#include "component/ahrs.h"
@ -26,12 +27,12 @@
#define ACCEL_CAN_MIN (-58.8f)
#define GYRO_CAN_MAX (34.88f)
#define GYRO_CAN_MIN (-34.88f)
#define PITCH_CAN_MAX (90.0f)
#define PITCH_CAN_MIN (-90.0f)
#define ROLL_CAN_MAX (180.0f)
#define ROLL_CAN_MIN (-180.0f)
#define YAW_CAN_MAX (180.0f)
#define YAW_CAN_MIN (-180.0f)
#define PITCH_CAN_MAX (M_PI_2) /* π/2 弧度 ≈ 90° */
#define PITCH_CAN_MIN (-M_PI_2) /* -π/2 弧度 ≈ -90° */
#define ROLL_CAN_MAX (M_2PI)
#define ROLL_CAN_MIN (-M_2PI)
#define YAW_CAN_MAX (M_2PI)
#define YAW_CAN_MIN (-M_PI_2) /* -π 弧度 ≈ -180° */
#define QUATERNION_MIN (-1.0f)
#define QUATERNION_MAX (1.0f)