robofish/rm_balance
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Robofish 2025-10-06 20:37:54 +08:00
parent bac96f42e6
commit 5207a45727
2 changed files with 11 additions and 6 deletions
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4
User/component/user_math.h
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@ -25,6 +25,10 @@ extern "C" {
#define M_PI 3.14159265358979323846f #define M_PI 3.14159265358979323846f
#endif #endif
#ifndef M_PI_2
#define M_PI_2 1.57079632679489661923f
#endif
#ifndef M_2PI #ifndef M_2PI
#define M_2PI 6.28318530717958647692f #define M_2PI 6.28318530717958647692f
#endif #endif

13
User/task/imu.c
View File

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