From 5207a4572744709299b708f5e76194afb9c6095a Mon Sep 17 00:00:00 2001
From: Robofish <1683502971@qq.com>
Date: Mon, 6 Oct 2025 20:37:54 +0800
Subject: [PATCH] =?UTF-8?q?=E6=94=B9=E5=8F=91=E9=80=81?=
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---
 User/component/user_math.h |  4 ++++
 User/task/imu.c            | 13 +++++++------
 2 files changed, 11 insertions(+), 6 deletions(-)

diff --git a/User/component/user_math.h b/User/component/user_math.h
index d4531e6..1a7e73a 100644
--- a/User/component/user_math.h
+++ b/User/component/user_math.h
@@ -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
diff --git a/User/task/imu.c b/User/task/imu.c
index 4321e98..580e291 100644
--- a/User/task/imu.c
+++ b/User/task/imu.c
@@ -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)