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改imu数据

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Robofish 2025-10-07 03:17:46 +08:00
parent 827a871299
commit d5357ba317
1 changed files with 5 additions and 5 deletions
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10
User/task/atti_esti.c
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@ -34,7 +34,7 @@ BMI088_Cali_t cali_bmi088= {
}; };
static const KPID_Params_t imu_temp_ctrl_pid_param = { static const KPID_Params_t imu_temp_ctrl_pid_param = {
.k = 0.2f, .k = 0.3f,
.p = 1.0f, .p = 1.0f,
.i = 0.01f, .i = 0.01f,
.d = 0.0f, .d = 0.0f,
@ -160,10 +160,10 @@ void Task_atti_esti(void *argument) {
gyro_modified.y = -bmi088.gyro.x; gyro_modified.y = -bmi088.gyro.x;
gyro_modified.z = bmi088.gyro.z; gyro_modified.z = bmi088.gyro.z;
/* 欧拉角数据：roll和pitch互换 */ /* 欧拉角数据：y取负值 */
eulr_modified.yaw = eulr_to_send.yaw; eulr_modified.yaw = eulr_to_send.yaw;
eulr_modified.pit = eulr_to_send.rol; /* pitch = 原roll */ eulr_modified.pit = -eulr_to_send.pit;
eulr_modified.rol = eulr_to_send.pit; /* roll = 原pitch */ eulr_modified.rol = eulr_to_send.rol;
osMessageQueueReset(task_runtime.msgq.imu.accl); osMessageQueueReset(task_runtime.msgq.imu.accl);
osMessageQueueReset(task_runtime.msgq.imu.gyro); osMessageQueueReset(task_runtime.msgq.imu.gyro);
@ -174,7 +174,7 @@ void Task_atti_esti(void *argument) {
osMessageQueuePut(task_runtime.msgq.imu.eulr, &eulr_modified, 0, 0); osMessageQueuePut(task_runtime.msgq.imu.eulr, &eulr_modified, 0, 0);
osMessageQueuePut(task_runtime.msgq.imu.quat, &gimbal_ahrs.quat, 0, 0); osMessageQueuePut(task_runtime.msgq.imu.quat, &gimbal_ahrs.quat, 0, 0);
BSP_PWM_SetComp(BSP_PWM_IMU_HEAT_PWM, PID_Calc(&imu_temp_ctrl_pid, 50.0f, bmi088.temp, 0.0f, 0.0f)); BSP_PWM_SetComp(BSP_PWM_IMU_HEAT_PWM, PID_Calc(&imu_temp_ctrl_pid, 40.0f, bmi088.temp, 0.0f, 0.0f));
/* USER CODE END */ /* USER CODE END */
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */ osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */