yongzhege

CMakeLists.txt

@@ -71,13 +71,13 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     User/component/user_math.c
 
     # User/device sources
-    User/device/ai.c
     User/device/bmi088.c
     User/device/dr16.c
     User/device/motor.c
     User/device/motor_dm.c
     User/device/motor_rm.c
     User/device/remote_control.c
+    User/device/ai.c
 
     # User/module sources
     User/module/chassis.c
@@ -87,8 +87,6 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     User/module/shoot.c
 
     # User/task sources
-    User/task/Task8.c
-    User/task/ai.c
     User/task/atti_esti.c
     User/task/chassis.c
     User/task/cmd.c
@@ -96,8 +94,9 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
     User/task/init.c
     User/task/rc.c
     User/task/shoot.c
-    User/task/tempCodeRunnerFile.c
     User/task/user_task.c
+    User/task/ai.c
+    User/task/Task8.c
 )
 
 # Add include paths

Core/Src/stm32f4xx_it.c

@@ -287,7 +287,6 @@ void USART1_IRQHandler(void)
   /* USER CODE END USART1_IRQn 0 */
   HAL_UART_IRQHandler(&huart1);
   /* USER CODE BEGIN USART1_IRQn 1 */
-  BSP_UART_IRQHandler(&huart1);
 
   /* USER CODE END USART1_IRQn 1 */
 }

User/bsp/bsp_config.yaml

@@ -72,6 +72,4 @@ uart:
     name: DR16
   - instance: USART6
     name: NUC
-  - instance: USART1
-    name: '1'
   enabled: true

User/bsp/gpio.c

@@ -73,20 +73,14 @@ int8_t BSP_GPIO_RegisterCallback(BSP_GPIO_t gpio, void (*callback)(void)) {
 int8_t BSP_GPIO_EnableIRQ(BSP_GPIO_t gpio) {
   switch (gpio) {
     case BSP_GPIO_KEY:
-#if defined(KEY_EXTI_IRQn)
       HAL_NVIC_EnableIRQ(KEY_EXTI_IRQn);
-#endif
+      break;
-      return BSP_OK;
     case BSP_GPIO_ACCL_INT:
-#if defined(ACCL_INT_EXTI_IRQn)
       HAL_NVIC_EnableIRQ(ACCL_INT_EXTI_IRQn);
-#endif
+      break;
-      return BSP_OK;
     case BSP_GPIO_GYRO_INT:
-#if defined(GYRO_INT_EXTI_IRQn)
       HAL_NVIC_EnableIRQ(GYRO_INT_EXTI_IRQn);
-#endif
+      break;
-      return BSP_OK;
     default:
       return BSP_ERR;
   }
@@ -96,20 +90,14 @@ int8_t BSP_GPIO_EnableIRQ(BSP_GPIO_t gpio) {
 int8_t BSP_GPIO_DisableIRQ(BSP_GPIO_t gpio) {
   switch (gpio) {
     case BSP_GPIO_KEY:
-#if defined(KEY_EXTI_IRQn)
       HAL_NVIC_DisableIRQ(KEY_EXTI_IRQn);
-#endif
+      break;
-      return BSP_OK;
     case BSP_GPIO_ACCL_INT:
-#if defined(ACCL_INT_EXTI_IRQn)
       HAL_NVIC_DisableIRQ(ACCL_INT_EXTI_IRQn);
-#endif
+      break;
-      return BSP_OK;
     case BSP_GPIO_GYRO_INT:
-#if defined(GYRO_INT_EXTI_IRQn)
       HAL_NVIC_DisableIRQ(GYRO_INT_EXTI_IRQn);
-#endif
+      break;
-      return BSP_OK;
     default:
       return BSP_ERR;
   }

User/bsp/uart.c

@@ -27,8 +27,6 @@ static BSP_UART_t UART_Get(UART_HandleTypeDef *huart) {
     return BSP_UART_DR16;
   else if (huart->Instance == USART6)
     return BSP_UART_NUC;
-  else if (huart->Instance == USART1)
-    return BSP_UART_1;
   else
     return BSP_UART_ERR;
 }
@@ -121,8 +119,6 @@ UART_HandleTypeDef *BSP_UART_GetHandle(BSP_UART_t uart) {
       return &huart3;
     case BSP_UART_NUC:
       return &huart6;
-    case BSP_UART_1:
-      return &huart1;
     default:
       return NULL;
   }

User/bsp/uart.h

@@ -29,7 +29,6 @@ extern "C" {
 typedef enum {
   BSP_UART_DR16,
   BSP_UART_NUC,
-  BSP_UART_1,
   BSP_UART_NUM,
   BSP_UART_ERR,
 } BSP_UART_t;

User/device/dr16.c

@@ -3,7 +3,7 @@
 //    Example：
 
 //  DR16_Init(&dr16);
-  
+//  
 //  while (1) {
 //    DR16_StartDmaRecv(&dr16);
 //    if (DR16_WaitDmaCplt(20)) {
@@ -114,7 +114,7 @@
 
 //  dr16->header.online = true;
 //  dr16->header.last_online_time = BSP_TIME_Get_us();
-  
+//  
 //  memset(&(dr16->data), 0, sizeof(dr16->data));
 
 //  float full_range = (float)(DR16_CH_VALUE_MAX - DR16_CH_VALUE_MIN);
@@ -139,7 +139,7 @@
 
 //  // 解析键盘按键 - 使用union简化代码
 //  uint16_t key_value = dr16->raw_data.key;
-  
+//  
 //  // 解析键盘位映射（W-B键，位0-15）
 //  for (int i = DR16_KEY_W; i <= DR16_KEY_B; i++) {
 //    dr16->data.keyboard.key[i] = (key_value & (1 << i)) != 0;
@@ -151,7 +151,7 @@
 
 //  // 解析第五通道
 //  dr16->data.ch_res = 2.0f * ((float)dr16->raw_data.res - DR16_CH_VALUE_MID) / full_range;
-  
+//  
 //  return DEVICE_OK;
 //}
 

User/device/dr16.h

@@ -12,11 +12,11 @@
 
 ///* USER INCLUDE BEGIN */
 
-// ///* USER INCLUDE END */
+///* USER INCLUDE END */
 
 ///* USER DEFINE BEGIN */
 
-// ///* USER DEFINE END */
+///* USER DEFINE END */
 
 ///* Exported constants ------------------------------------------------------- */
 ///* Exported macro ----------------------------------------------------------- */
@@ -110,7 +110,7 @@
 
 ///* USER FUNCTION BEGIN */
 
-// ///* USER FUNCTION END */
+///* USER FUNCTION END */
 
 //#ifdef __cplusplus
 //}

User/device/motor_rm.c

@@ -56,12 +56,12 @@ static int8_t MOTOR_RM_GetLogicalIndex(uint16_t can_id, MOTOR_RM_Module_t module
     switch (module) {
         case MOTOR_M2006:
         case MOTOR_M3508:
-            if (can_id >= M3508_M2006_FB_ID_BASE && can_id <= M3508_M2006_FB_ID_BASE + 7) {
+            if (can_id >= M3508_M2006_FB_ID_BASE && can_id < M3508_M2006_FB_ID_BASE + 7) {
                 return can_id - M3508_M2006_FB_ID_BASE;
             }
             break;
         case MOTOR_GM6020:
-            if (can_id >= GM6020_FB_ID_BASE && can_id <= GM6020_FB_ID_BASE + 6) {
+            if (can_id >= GM6020_FB_ID_BASE && can_id < GM6020_FB_ID_BASE + 6) {
                 return can_id - GM6020_FB_ID_BASE + 4;
             }
             break;
@@ -74,7 +74,7 @@ static int8_t MOTOR_RM_GetLogicalIndex(uint16_t can_id, MOTOR_RM_Module_t module
 static float MOTOR_RM_GetRatio(MOTOR_RM_Module_t module) {
     switch (module) {
         case MOTOR_M2006: return 36.0f;
-        case MOTOR_M3508: return 3591.0f / 187.0f;
+        case MOTOR_M3508: return 268.0f/17.0f ;   // 通用3508减速比3591.0f / 187.0f;前面的是舵轮减速箱减速比
         case MOTOR_GM6020: return 1.0f;
         default: return 1.0f;
     }

User/module/cmd.c

@@ -187,7 +187,7 @@ int8_t CMD_CtrlSet(Chassis_CMD_t *c_cmd, const CMD_RC_t *rc, Gimbal_CMD_t *g_cmd
                 s_cmd->mode = SHOOT_MODE_SINGLE;
                 break;
             case CMD_SW_DOWN:
-                s_cmd->mode = SHOOT_MODE_CONTINUE;
+                s_cmd->mode = SHOOT_MODE_BURST;
                 break;
             case CMD_SW_ERR:
                 s_cmd->mode = SHOOT_MODE_SAFE;
@@ -195,6 +195,7 @@ int8_t CMD_CtrlSet(Chassis_CMD_t *c_cmd, const CMD_RC_t *rc, Gimbal_CMD_t *g_cmd
         }
         switch(rc->ET16s.key_D)
         {
+            
             case CMD_SW_UP:
                 s_cmd->firecmd = false;
                 s_cmd->ready = false;

User/module/cmd.h

@@ -47,8 +47,6 @@ typedef struct
 
     struct
     {
-
-        uint8_t head;
         float ch_l_x; /* 遥控器左侧摇杆横轴值，上为正 */
         float ch_l_y; /* 遥控器左侧摇杆纵轴值，右为正 */
         float ch_r_x; /* 遥控器右侧摇杆横轴值，上为正 */
@@ -63,8 +61,6 @@ typedef struct
         CMD_SwitchPos_t key_G;
         CMD_SwitchPos_t key_H;
 
-        
-        uint8_t end;
         int16_t knob_left;  // 左旋钮
         int16_t knob_right; // 右旋钮
     } __attribute__((packed)) ET16s;
@@ -131,14 +127,13 @@ typedef enum {
 }Shoot_Mode_t;
 
 typedef enum{
-    SHOOT_REMOTE = 0,/* 遥控器控制 */
+    SHOOT_REMOTE,
-    SHOOT_AI,       /* AI控制 */
+    SHOOT_AI
-} Shoot_Control_Mode_t;
+}Shoot_CONTROL_Mode_t;
 
 typedef struct {
   Shoot_Mode_t mode;/* 射击模式 */
-
+  Shoot_CONTROL_Mode_t control_mode;
-  Shoot_Control_Mode_t control_mode;/* 控制模式 */
   bool ready;       /* 准备射击 */
   bool firecmd;     /* 射击 */
 }Shoot_CMD_t;

User/module/config.c

@@ -145,8 +145,8 @@ static const Config_Param_t config = {
         },
 
         .pid.yaw_4310_motor_omega = {
-            .k = 0.5f, 
+            .k = 0.0f, 
-            .p = 0.5f, 
+            .p = 0.3f, 
             .i = 0.0f, 
             .d = 0.0f, 
             .i_limit = 0.0f, 

User/module/gimbal.c

@@ -115,7 +115,6 @@ int8_t Gimbal_Init(Gimbal_t *g,  Gimbal_Param_t *param,float target_freq)
   PID_Init(&g->pid.yaw_6020_omega,KPID_MODE_CALC_D, target_freq,&g->param->pid.yaw_6020_motor_omega );
   /*4310大yaw pid初始化 大yaw单环控*/
   PID_Init(&g->pid.yaw_4310_angle,KPID_MODE_SET_D, target_freq,&g->param->pid.yaw_4310_motor_angle );
-  PID_Init(&g->pid.yaw_4310_omega,KPID_MODE_CALC_D, target_freq,&g->param->pid.yaw_4310_motor_omega );
   /*4310 pitch pid初始化 单环*/
   PID_Init(&g->pid.pitch_4310_angle,KPID_MODE_NO_D, target_freq,&g->param->pid.pitch_4310_motor_angle );
   PID_Init(&g->pid.pitch_4310_omega,KPID_MODE_CALC_D, target_freq,&g->param->pid.pitch_4310_motor_omega );
@@ -247,7 +246,7 @@ int8_t Gimbal_UpdateIMU(Gimbal_t *gimbal, const Gimbal_IMU_t *imu){
  Gimbal_SetMode(g, g_cmd->mode);
 
 /*处理小yaw轴控制命令*/
-float delta_yaw_6020 = 10.0f*g_cmd->delta_yaw_6020 * g->dt;
+float delta_yaw_6020 = 5.0f*g_cmd->delta_yaw_6020 * g->dt;
 
 if(g->param->travel.yaw_6020 > 0)  // 有限位才处理
 {
@@ -277,7 +276,7 @@ const float delta_min_6020 = CircleError(g->limit.yaw_6020.min,
  g->setpoint.yaw_4310=small_yaw_center_offset;
 
   /*处理大pitch控制命令*/
-float delta_pitch_4310 = 8.0f*g_cmd->delta_pitch_4310*g->dt;
+float delta_pitch_4310 = 5.0f*g_cmd->delta_pitch_4310*g->dt;
 if(g->param->travel.pitch_4310 > 0)  // 有限位才处理
 {
    /* 计算当前电机角度与IMU角度的偏差 */
@@ -331,15 +330,11 @@ g->setpoint.eulr.pit = g_cmd->set_pitch;
     /*4310大YAW控制
     这里是单环控制的，有需要加双环
     */
-
-
     yaw_omega_set_point =PID_Calc(&g->pid.yaw_4310_angle,g->setpoint.yaw_4310,
                                 g->feedback.motor.yaw_6020_motor_feedback.rotor_abs_angle,g->feedback.motor.yaw_6020_motor_feedback.rotor_speed,g->dt);
-
+    // g->out.yaw_4310 = PID_Calc(&g->pid.yaw_4310_omega,yaw_omega_set_point,
-
+    //                           g->feedback.imu.gyro.z,0.0f,g->dt);
-    g->out.yaw_4310 = PID_Calc(&g->pid.yaw_4310_omega,yaw_omega_set_point,
+    g->out.yaw_4310 = yaw_omega_set_point;  // 直接输出速度环目标值作为电机输出
-                              g->feedback.motor.yaw_4310_motor_feedback.rotor_speed,0.0f,g->dt);
-    // g->out.yaw_4310 = yaw_omega_set_point;  // 直接输出速度环目标值作为电机输出
       /*控制云台4310电机 也是单环，但是加了重力补偿函数，可以根据不一样的情况去拟合函数*/
     pitch_omega_set_point =PID_Calc(&g->pid.pitch_4310_angle,g->setpoint.eulr.pit,
                                     g->feedback.imu.eulr.rol,0.0f,g->dt);
@@ -381,9 +376,8 @@ void Gimbal_Output(Gimbal_t *g)
   MOTOR_RM_SetOutput(&g->param->yaw_6020_motor, g->out.yaw_6020);
 
    MOTOR_MIT_Output_t output_yaw_4310 = {0};
-    output_yaw_4310.torque = g->out.yaw_4310 * 2.0f;
+    output_yaw_4310.torque = g->out.yaw_4310 * 1.0f;
-    // output_yaw_4310.kp = 0.2f;
+    output_yaw_4310.kd = 0.2f;
-    output_yaw_4310.kd = 0.1f;
     // output_yaw_4310.kd=0.1f;
 
     MOTOR_MIT_Output_t output_pitch_4310 = {0};

User/task/Task8.c

@@ -6,6 +6,9 @@
 /* Includes ----------------------------------------------------------------- */
 #include "task/user_task.h"
 /* USER INCLUDE BEGIN */
+#include "bsp/can.h"
+#include "device/motor_rm.h"
+#include "component/pid.h"
 
 /* USER INCLUDE END */
 
@@ -14,7 +17,57 @@
 /* Private macro ------------------------------------------------------------ */
 /* Private variables -------------------------------------------------------- */
 /* USER STRUCT BEGIN */
+MOTOR_RM_t motor_6020;
+MOTOR_RM_t motor_3508;
+MOTOR_RM_Param_t motor_6020_param = {
+    .can = BSP_CAN_1,
+    .id = 0x205,
+    .module = MOTOR_GM6020,
+    .reverse = false,
+    .gear = false,
+};
+MOTOR_RM_Param_t motor_3508_param = {
+    .can = BSP_CAN_1,
+    .id = 0x201,
+    .module = MOTOR_M3508,
+    .reverse = false,
+    .gear = false,
+};
 
+KPID_t motor_6020_speed;
+KPID_t motor_3508_angle;
+KPID_t motor_3508_omega;
+
+KPID_Params_t motor_6020_speed_param = {
+  .k = 0.1f,
+  .p = 0.2f,
+  .i = 0.1f,
+  .d = 0.0f,
+  .i_limit = 1.0f,
+  .out_limit = 1.0f,
+  .d_cutoff_freq = 30.0f,
+};
+KPID_Params_t motor_3508_angle_param = {
+   .k = 1.0f,
+  .p = 5.0f,
+  .i = 0.1f,
+  .d = 0.0f,
+  .i_limit = 1.0f,
+  .out_limit = 1.0f,
+  .d_cutoff_freq = 30.0f,
+};
+KPID_Params_t motor_3508_omega_param = {
+    .k = 1.0f,
+  .p = 5.0f,
+  .i = 0.1f,
+  .d = 0.0f,
+  .i_limit = 1.0f,
+  .out_limit = 1.0f,
+  .d_cutoff_freq = 30.0f,
+};
+
+float motor_3508_target_angle = 5*M_2PI;
+float motor_6020_target_speed = 33.0f;
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
@@ -30,17 +83,34 @@ void Task_Task8(void *argument) {
 
   uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
   /* USER CODE INIT BEGIN */
+  BSP_CAN_Init();
+MOTOR_RM_Register( &motor_6020_param);
+MOTOR_RM_Register(&motor_3508_param);
 
+PID_Init(&motor_6020_speed, KPID_MODE_CALC_D, TASK8_FREQ, &motor_6020_speed_param);
+PID_Init(&motor_3508_angle, KPID_MODE_NO_D, TASK8_FREQ, &motor_3508_angle_param);
+PID_Init(&motor_3508_omega, KPID_MODE_NO_D, TASK8_FREQ, &motor_3508_omega_param);
   /* USER CODE INIT END */
   
   while (1) {
     tick += delay_tick; /* 计算下一个唤醒时刻 */
     /* USER CODE BEGIN */
-    // osMessageQueueGet(task_runtime.msgq.RC_REMOTE, &remote, NULL, 0);
+  MOTOR_RM_UpdateAll();
+
+    motor_6020.feedback.rotor_speed= (MOTOR_GetRotorSpeed(&(MOTOR_RM_GetMotor(&motor_6020_param)->motor)) );
+    motor_3508.feedback.rotor_abs_angle= MOTOR_RM_GetMotor(&motor_3508_param)->gearbox_total_angle;
+    motor_3508.feedback.rotor_speed= (MOTOR_GetRotorSpeed(&(MOTOR_RM_GetMotor(&motor_3508_param)->motor)) );
 
 
+    float motor_6020out,motor_3508_ommega,motor_3508_out;
 
+    motor_6020out = PID_Calc(&motor_6020_speed, motor_6020_target_speed, motor_6020.feedback.rotor_speed, 0.0f,0.0f);
 
+    // motor_3508_ommega = PID_Calc(&motor_3508_omega, motor_3508_target_angle, motor_3508.feedback.rotor_abs_angle, 0.0f,0.0f);
+    // motor_3508_out = PID_Calc(&motor_3508_angle, motor_3508_ommega, motor_3508.feedback.rotor_speed, 0.0f,0.0f);
+
+    MOTOR_RM_SetOutput(&motor_6020_param, motor_6020out);
+    MOTOR_RM_Ctrl(&motor_6020_param);
     /* USER CODE END */
     osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
   }

User/task/ai.c

@@ -49,7 +49,9 @@ void Task_ai(void *argument) {
 		AI_Get_NUC(&ai,&ai_cmd);		
     osMessageQueueReset(task_runtime.msgq.gimbal.ai.g_cmd);
     osMessageQueuePut(task_runtime.msgq.gimbal.ai.g_cmd, &ai_cmd, 0, 0);	
-    osMessageQueuePut(task_runtime.msgq.shoot.ai.s_cmd, &ai_cmd, 0, 0);
+
+    osMessageQueueReset(task_runtime.msgq.gimbal.ai.s_cmd);
+    osMessageQueuePut(task_runtime.msgq.gimbal.ai.s_cmd, &ai_cmd, 0, 0);
     /* USER CODE END */
     osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
   }

User/task/init.c

@@ -38,7 +38,7 @@ void Task_Init(void *argument) {
   task_runtime.thread.gimbal = osThreadNew(Task_gimbal, NULL, &attr_gimbal);
   task_runtime.thread.shoot = osThreadNew(Task_shoot, NULL, &attr_shoot);
   task_runtime.thread.ai = osThreadNew(Task_ai, NULL, &attr_ai);
-  task_runtime.thread.Task8 = osThreadNew(Task_Task8, NULL, &attr_Task8);
+  // task_runtime.thread.Task8 = osThreadNew(Task_Task8, NULL, &attr_Task8);
 
   // 创建消息队列
   /* USER MESSAGE BEGIN */
@@ -54,8 +54,7 @@ void Task_Init(void *argument) {
   task_runtime.msgq.shoot.cmd = osMessageQueueNew(2u, sizeof(Shoot_CMD_t),NULL);
   task_runtime.msgq.gimbal.ai.feedback = osMessageQueueNew(2u, sizeof(Gimbal_feedback_t),NULL);
   task_runtime.msgq.gimbal.ai.g_cmd = osMessageQueueNew(2u, sizeof(AI_cmd_t),NULL);
-  task_runtime.msgq.shoot.ai.s_cmd = osMessageQueueNew(2u, sizeof(AI_cmd_t),NULL);
+  task_runtime.msgq.gimbal.ai.s_cmd = osMessageQueueNew(2u, sizeof(AI_cmd_t),NULL);
-  
   /* USER MESSAGE END */
 
   osKernelUnlock(); // 解锁内核

User/task/shoot.c

@@ -44,28 +44,28 @@ Shoot_SetMode(&shoot,SHOOT_MODE_SINGLE);
     tick += delay_tick; /* 计算下一个唤醒时刻 */
     /* USER CODE BEGIN */
 osMessageQueueGet(task_runtime.msgq.shoot.cmd, &shoot_cmd, NULL, 0);
-osMessageQueueGet(task_runtime.msgq.shoot.ai.s_cmd, &shoot_ai_cmd, NULL, 0);
+osMessageQueueGet(task_runtime.msgq.gimbal.ai.s_cmd, &shoot_ai_cmd, NULL, 0);
   
-// if(shoot_cmd.control_mode==SHOOT_REMOTE)
+if(shoot_cmd.control_mode==SHOOT_REMOTE)
-// {
+{
-//   //do nothing，使用遥控器的指令
+  //do nothing，使用遥控器的指令
-// }
+}
-// else if(shoot_cmd.control_mode==SHOOT_AI)
+else if(shoot_cmd.control_mode==SHOOT_AI)
-// {
+{
-//   shoot_cmd.mode = SHOOT_MODE_SINGLE;
+  shoot_cmd.mode = SHOOT_MODE_SINGLE;
-// if(shoot_ai_cmd.mode==0 || shoot_ai_cmd.mode==1)
+if(shoot_ai_cmd.mode==0 || shoot_ai_cmd.mode==1)
-// {
+{
-//   shoot_cmd.firecmd=false;
+  shoot_cmd.firecmd=false;
-//   shoot_cmd.ready=true;
+  shoot_cmd.ready=true;
 
-// }
+}
-// else if(shoot_ai_cmd.mode==2)
+else if(shoot_ai_cmd.mode==2)
-// {
+{
   
-//   shoot_cmd.firecmd=true;
+  shoot_cmd.firecmd=true;
-//   shoot_cmd.ready=true;
+  shoot_cmd.ready=true;
-// }
+}
-//   }
+  }
 
     Shoot_UpdateFeedback(&shoot);
     Shoot_SetMode(&shoot,shoot_cmd.mode);

User/task/tempCodeRunnerFile.c

@@ -0,0 +1 @@
+feedback

User/task/user_task.h

@@ -91,7 +91,7 @@ typedef struct {
                osMessageQueueId_t quat;                  
                 osMessageQueueId_t feedback;
                 osMessageQueueId_t g_cmd;
-                
+                osMessageQueueId_t s_cmd;
                 }ai;
                  /* 新增的 ai 消息队列 主要是给自瞄*/
             } gimbal;
@@ -99,13 +99,8 @@ typedef struct {
             struct 
             {
                 osMessageQueueId_t cmd; 
-            struct{
-
-                osMessageQueueId_t s_cmd;
-                }ai;
             }shoot;
 
-           
         } msgq;
         /* USER MESSAGE END */