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base: robofish:5207a4572744709299b708f5e76194afb9c6095a
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robofish:main
robofish:神秘小轮腿
robofish:ai
robofish:单独底层纯转发
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compare: robofish:d5357ba317e6e612320435755a6eb0f369bf2969
Branches Tags
robofish:神秘小轮腿
robofish:ai
robofish:单独底层纯转发
robofish:main

2 Commits
5207a45727 ... d5357ba317

Author SHA1 Message Date
Robofish
d5357ba317 改imu数据 2025-10-07 03:17:46 +08:00
Robofish
827a871299 改范围 2025-10-06 20:46:21 +08:00
2 changed files with 11 additions and 11 deletions
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10
User/task/atti_esti.c
View File

@ -34,7 +34,7 @@ BMI088_Cali_t cali_bmi088= {
};
static const KPID_Params_t imu_temp_ctrl_pid_param = {
.k = 0.2f,
.k = 0.3f,
.p = 1.0f,
.i = 0.01f,
.d = 0.0f,
@ -160,10 +160,10 @@ void Task_atti_esti(void *argument) {
gyro_modified.y = -bmi088.gyro.x;
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.pit = eulr_to_send.rol; /* pitch = 原roll */
eulr_modified.rol = eulr_to_send.pit; /* roll = 原pitch */
eulr_modified.pit = -eulr_to_send.pit;
eulr_modified.rol = eulr_to_send.rol;
osMessageQueueReset(task_runtime.msgq.imu.accl);
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.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 */
osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */

12
User/task/imu.c
View File

@ -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)