robofish/rm_balance
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Robofish 2026-03-17 08:59:39 +08:00
parent 55403f1f87
commit 89ac086894
2 changed files with 2 additions and 2 deletions
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2
User/module/gimbal.c
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@ -219,7 +219,7 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd, Gimbal_AI_t *g_ai) {
g->out.yaw = 0.0f; g->out.yaw = 0.0f;
g->out.pit = 0.0f; g->out.pit = 0.0f;
/* fallthrough - AI控制模式也需要执行PID计算 */ /* fallthrough - AI控制模式也需要执行PID计算 */
break;
case GIMBAL_MODE_ABSOLUTE: case GIMBAL_MODE_ABSOLUTE:
case GIMBAL_MODE_RELATIVE: case GIMBAL_MODE_RELATIVE:
yaw_omega_set_point = PID_Calc(&(g->pid.yaw_angle), g->setpoint.eulr.yaw, yaw_omega_set_point = PID_Calc(&(g->pid.yaw_angle), g->setpoint.eulr.yaw,

2
User/task/ctrl_chassis.c
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@ -106,7 +106,7 @@ void Task_ctrl_chassis(void *argument) {
// float power_limit = (chassis_ref.ref_status == REF_STATUS_RUNNING) // float power_limit = (chassis_ref.ref_status == REF_STATUS_RUNNING)
// ? chassis_ref.chassis_power_limit // ? chassis_ref.chassis_power_limit
// : 500.0f; // : 500.0f;
// Chassis_Power_Control(&chassis, power_limit); //(&chassis, power_limit);
osMessageQueueReset(task_runtime.msgq.chassis.vofa); // 重置消息队列，防止阻塞 osMessageQueueReset(task_runtime.msgq.chassis.vofa); // 重置消息队列，防止阻塞