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Robofish 2025-10-06 20:46:21 +08:00
parent 5207a45727
commit 827a871299
1 changed files with 6 additions and 6 deletions
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12
User/task/imu.c
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@ -27,12 +27,12 @@
#define ACCEL_CAN_MIN (-58.8f)
#define GYRO_CAN_MAX (34.88f)
#define GYRO_CAN_MIN (-34.88f)
#define PITCH_CAN_MAX (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 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_PI) /* π 弧度 ≈ 180° */
#define ROLL_CAN_MIN (-M_PI) /* -π 弧度 ≈ -180° */
#define YAW_CAN_MAX (M_PI) /* π 弧度 ≈ 180° */
#define YAW_CAN_MIN (-M_PI) /* -π 弧度 ≈ -180° */
#define QUATERNION_MIN (-1.0f)
#define QUATERNION_MAX (1.0f)