123

.vscode/settings.json

@@ -1,6 +1,7 @@
 {
     "files.associations": {
         "fixed_height.h": "c",
-        "ahrs.h": "c"
+        "ahrs.h": "c",
+        "xm_quadctrl.h": "c"
     }
 }

MDK-ARM/DveC.uvoptx

@@ -132,10 +132,6 @@
           <Key>ARMDBGFLAGS</Key>
           <Name></Name>
         </SetRegEntry>
-        <SetRegEntry>
-          <Number>0</Number>
-          <Key>DLGUARM</Key>
-        </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
           <Key>JL2CM3</Key>
@@ -1010,7 +1006,7 @@
 
   <Group>
     <GroupName>User/device</GroupName>
-    <tvExp>0</tvExp>
+    <tvExp>1</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1281,30 +1277,6 @@
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>..\User\component\cmd.c</PathWithFileName>
-      <FilenameWithoutPath>cmd.c</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
-      <bShared>0</bShared>
-    </File>
-    <File>
-      <GroupNumber>9</GroupNumber>
-      <FileNumber>83</FileNumber>
-      <FileType>5</FileType>
-      <tvExp>0</tvExp>
-      <tvExpOptDlg>0</tvExpOptDlg>
-      <bDave2>0</bDave2>
-      <PathWithFileName>..\User\component\cmd.h</PathWithFileName>
-      <FilenameWithoutPath>cmd.h</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
-      <bShared>0</bShared>
-    </File>
-    <File>
-      <GroupNumber>9</GroupNumber>
-      <FileNumber>84</FileNumber>
-      <FileType>1</FileType>
-      <tvExp>0</tvExp>
-      <tvExpOptDlg>0</tvExpOptDlg>
-      <bDave2>0</bDave2>
       <PathWithFileName>..\User\component\AltitudeKalman.c</PathWithFileName>
       <FilenameWithoutPath>AltitudeKalman.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
@@ -1312,7 +1284,7 @@
     </File>
     <File>
       <GroupNumber>9</GroupNumber>
-      <FileNumber>85</FileNumber>
+      <FileNumber>83</FileNumber>
       <FileType>5</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1332,7 +1304,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>86</FileNumber>
+      <FileNumber>84</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1344,7 +1316,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>87</FileNumber>
+      <FileNumber>85</FileNumber>
       <FileType>5</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1356,7 +1328,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>88</FileNumber>
+      <FileNumber>86</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1368,7 +1340,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>89</FileNumber>
+      <FileNumber>87</FileNumber>
       <FileType>5</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1380,7 +1352,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>90</FileNumber>
+      <FileNumber>88</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1392,7 +1364,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>91</FileNumber>
+      <FileNumber>89</FileNumber>
       <FileType>5</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1404,7 +1376,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>92</FileNumber>
+      <FileNumber>90</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1416,7 +1388,7 @@
     </File>
     <File>
       <GroupNumber>10</GroupNumber>
-      <FileNumber>93</FileNumber>
+      <FileNumber>91</FileNumber>
       <FileType>5</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1436,31 +1408,7 @@
     <RteFlg>0</RteFlg>
     <File>
       <GroupNumber>11</GroupNumber>
-      <FileNumber>94</FileNumber>
+      <FileNumber>92</FileNumber>
-      <FileType>1</FileType>
-      <tvExp>0</tvExp>
-      <tvExpOptDlg>0</tvExpOptDlg>
-      <bDave2>0</bDave2>
-      <PathWithFileName>..\User\task\atti_esti.c</PathWithFileName>
-      <FilenameWithoutPath>atti_esti.c</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
-      <bShared>0</bShared>
-    </File>
-    <File>
-      <GroupNumber>11</GroupNumber>
-      <FileNumber>95</FileNumber>
-      <FileType>1</FileType>
-      <tvExp>0</tvExp>
-      <tvExpOptDlg>0</tvExpOptDlg>
-      <bDave2>0</bDave2>
-      <PathWithFileName>..\User\task\height_cal.c</PathWithFileName>
-      <FilenameWithoutPath>height_cal.c</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
-      <bShared>0</bShared>
-    </File>
-    <File>
-      <GroupNumber>11</GroupNumber>
-      <FileNumber>96</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1472,19 +1420,7 @@
     </File>
     <File>
       <GroupNumber>11</GroupNumber>
-      <FileNumber>97</FileNumber>
+      <FileNumber>93</FileNumber>
-      <FileType>1</FileType>
-      <tvExp>0</tvExp>
-      <tvExpOptDlg>0</tvExpOptDlg>
-      <bDave2>0</bDave2>
-      <PathWithFileName>..\User\task\main_control.c</PathWithFileName>
-      <FilenameWithoutPath>main_control.c</FilenameWithoutPath>
-      <RteFlg>0</RteFlg>
-      <bShared>0</bShared>
-    </File>
-    <File>
-      <GroupNumber>11</GroupNumber>
-      <FileNumber>98</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1496,7 +1432,7 @@
     </File>
     <File>
       <GroupNumber>11</GroupNumber>
-      <FileNumber>99</FileNumber>
+      <FileNumber>94</FileNumber>
       <FileType>5</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1508,7 +1444,7 @@
     </File>
     <File>
       <GroupNumber>11</GroupNumber>
-      <FileNumber>100</FileNumber>
+      <FileNumber>95</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
@@ -1520,13 +1456,49 @@
     </File>
     <File>
       <GroupNumber>11</GroupNumber>
-      <FileNumber>101</FileNumber>
+      <FileNumber>96</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <tvExpOptDlg>0</tvExpOptDlg>
       <bDave2>0</bDave2>
-      <PathWithFileName>..\User\task\rc.c</PathWithFileName>
+      <PathWithFileName>..\User\task\cmd.c</PathWithFileName>
-      <FilenameWithoutPath>rc.c</FilenameWithoutPath>
+      <FilenameWithoutPath>cmd.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>11</GroupNumber>
+      <FileNumber>97</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\User\task\atti_esti.c</PathWithFileName>
+      <FilenameWithoutPath>atti_esti.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>11</GroupNumber>
+      <FileNumber>98</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\User\task\height_cal.c</PathWithFileName>
+      <FilenameWithoutPath>height_cal.c</FilenameWithoutPath>
+      <RteFlg>0</RteFlg>
+      <bShared>0</bShared>
+    </File>
+    <File>
+      <GroupNumber>11</GroupNumber>
+      <FileNumber>99</FileNumber>
+      <FileType>1</FileType>
+      <tvExp>0</tvExp>
+      <tvExpOptDlg>0</tvExpOptDlg>
+      <bDave2>0</bDave2>
+      <PathWithFileName>..\User\task\quad_ctrl.c</PathWithFileName>
+      <FilenameWithoutPath>quad_ctrl.c</FilenameWithoutPath>
       <RteFlg>0</RteFlg>
       <bShared>0</bShared>
     </File>

MDK-ARM/DveC.uvprojx

@@ -828,16 +828,6 @@
               <FileType>5</FileType>
               <FilePath>..\User\component\user_math.h</FilePath>
             </File>
-            <File>
-              <FileName>cmd.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\User\component\cmd.c</FilePath>
-            </File>
-            <File>
-              <FileName>cmd.h</FileName>
-              <FileType>5</FileType>
-              <FilePath>..\User\component\cmd.h</FilePath>
-            </File>
             <File>
               <FileName>AltitudeKalman.c</FileName>
               <FileType>1</FileType>
@@ -898,26 +888,11 @@
         <Group>
           <GroupName>User/task</GroupName>
           <Files>
-            <File>
-              <FileName>atti_esti.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\User\task\atti_esti.c</FilePath>
-            </File>
-            <File>
-              <FileName>height_cal.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\User\task\height_cal.c</FilePath>
-            </File>
             <File>
               <FileName>init.c</FileName>
               <FileType>1</FileType>
               <FilePath>..\User\task\init.c</FilePath>
             </File>
-            <File>
-              <FileName>main_control.c</FileName>
-              <FileType>1</FileType>
-              <FilePath>..\User\task\main_control.c</FilePath>
-            </File>
             <File>
               <FileName>user_task.c</FileName>
               <FileType>1</FileType>
@@ -934,9 +909,24 @@
               <FilePath>..\User\task\blink.c</FilePath>
             </File>
             <File>
-              <FileName>rc.c</FileName>
+              <FileName>cmd.c</FileName>
               <FileType>1</FileType>
-              <FilePath>..\User\task\rc.c</FilePath>
+              <FilePath>..\User\task\cmd.c</FilePath>
+            </File>
+            <File>
+              <FileName>atti_esti.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\task\atti_esti.c</FilePath>
+            </File>
+            <File>
+              <FileName>height_cal.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\task\height_cal.c</FilePath>
+            </File>
+            <File>
+              <FileName>quad_ctrl.c</FileName>
+              <FileType>1</FileType>
+              <FilePath>..\User\task\quad_ctrl.c</FilePath>
             </File>
           </Files>
         </Group>

MDK-ARM/DveC/DveC.build_log.htm

@@ -22,7 +22,7 @@ Dialog DLL:      TCM.DLL V1.48.0.0
  
 <h2>Project:</h2>
 D:\CUBEMX\Quadcopter\DveC\MDK-ARM\DveC.uvprojx
-Project File Date:  10/17/2025
+Project File Date:  10/19/2025
 
 <h2>Output:</h2>
 *** Using Compiler 'V6.16', folder: 'D:\cangming\ARM\ARMCLANG\Bin'
@@ -31,9 +31,9 @@ Note: source file '..\User\bsp\gpio.c' - object file renamed from 'DveC\gpio.o'
 Note: source file '..\User\bsp\i2c.c' - object file renamed from 'DveC\i2c.o' to 'DveC\i2c_1.o'.
 Note: source file '..\User\bsp\spi.c' - object file renamed from 'DveC\spi.o' to 'DveC\spi_1.o'.
 Note: source file '..\User\BarometerDriver\spl06.c' - object file renamed from 'DveC\spl06.o' to 'DveC\spl06_1.o'.
-compiling rc.c...
+Note: source file '..\User\task\cmd.c' - object file renamed from 'DveC\cmd.o' to 'DveC\cmd_1.o'.
 linking...
-Program Size: Code=48104 RO-data=1196 RW-data=32 ZI-data=32048  
+Program Size: Code=50488 RO-data=1244 RW-data=320 ZI-data=33160  
 FromELF: creating hex file...
 "DveC\DveC.axf" - 0 Error(s), 0 Warning(s).
 

MDK-ARM/DveC/DveC.lnp

@@ -59,19 +59,18 @@
 "dvec\filter.o"
 "dvec\pid.o"
 "dvec\user_math.o"
-"dvec\cmd.o"
 "dvec\altitudekalman.o"
 "dvec\config.o"
 "dvec\at9s_pro_cmd.o"
 "dvec\xm_quadctrl.o"
 "dvec\heightestimation.o"
-"dvec\atti_esti.o"
-"dvec\height_cal.o"
 "dvec\init.o"
-"dvec\main_control.o"
 "dvec\user_task.o"
 "dvec\blink.o"
-"dvec\rc.o"
+"dvec\cmd_1.o"
+"dvec\atti_esti.o"
+"dvec\height_cal.o"
+"dvec\quad_ctrl.o"
 --strict --scatter "DveC\DveC.sct"
 --summary_stderr --info summarysizes --map --load_addr_map_info --xref --callgraph --symbols
 --info sizes --info totals --info unused --info veneers

MDK-ARM/DveC/DveC_DveC.dep

@@ -135,7 +135,7 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68AD823F)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68AD823F)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
-I (..\User\task\user_task.h)(0x68F1F1D6)
+I (..\User\task\user_task.h)(0x68F49892)
 F (../Core/Src/dma.c)(0x68F0EA66)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_DveC

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o dvec/dma.o -MD)
 I (..\Core\Inc\dma.h)(0x68DF6BC0)
 I (..\Core\Inc\main.h)(0x68F1B727)
@@ -1877,17 +1877,6 @@ I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
 I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
 I (D:\cangming\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
 F (..\User\component\user_math.h)(0x68F0EAFF)()
-F (..\User\component\cmd.c)(0x68F0EAFF)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_DveC

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o dvec/cmd.o -MD)
-I (..\User\component\cmd.h)(0x68F0EAFF)
-I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
-I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
-I (..\User\component\ahrs.h)(0x68F0EAFF)
-I (..\User\component\user_math.h)(0x68F0EAFF)
-I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
-I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
-I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
-I (D:\cangming\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
-F (..\User\component\cmd.h)(0x68F0EAFF)()
 F (..\User\component\AltitudeKalman.c)(0x68F1E74C)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_DveC

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o dvec/altitudekalman.o -MD)
 I (..\User\component\AltitudeKalman.h)(0x68F1E74C)
 I (..\User\device\bmi088.h)(0x68F0E47F)
@@ -1900,12 +1889,23 @@ I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
 I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
 I (..\User\device\device.h)(0x68F0FFC5)
 F (..\User\component\AltitudeKalman.h)(0x68F1E74C)()
-F (..\User\module\config.c)(0x68DF87BC)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_DveC

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o dvec/config.o -MD)
+F (..\User\module\config.c)(0x68F49186)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_DveC

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o dvec/config.o -MD)
-I (..\User\module\config.h)(0x68DF87AE)
+I (..\User\module\config.h)(0x68F49094)
 I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
-F (..\User\module\config.h)(0x68DF87AE)()
+I (..\User\module\xm_quadctrl.h)(0x68F49821)
-F (..\User\module\at9s_pro_cmd.c)(0x68F10180)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_DveC

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o dvec/at9s_pro_cmd.o -MD)
+I (..\User\device\at9s_pro.h)(0x68F1001A)
-I (..\User\module\at9s_pro_cmd.h)(0x68E13166)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
+I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
+I (..\User\component\user_math.h)(0x68F0EAFF)
+I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
+I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
+I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
+I (..\User\device\device.h)(0x68F0FFC5)
+I (..\User\component\pid.h)(0x68F0EAFF)
+I (..\User\component\filter.h)(0x68F0EAFF)
+F (..\User\module\config.h)(0x68F49094)()
+F (..\User\module\at9s_pro_cmd.c)(0x68F49821)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_DveC

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o dvec/at9s_pro_cmd.o -MD)
+I (..\User\module\at9s_pro_cmd.h)(0x68F49822)
 I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
 I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
 I (..\User\device\at9s_pro.h)(0x68F1001A)
@@ -1916,9 +1916,58 @@ I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
 I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
 I (..\User\device\device.h)(0x68F0FFC5)
 I (D:\cangming\ARM\ARMCLANG\include\string.h)(0x6035A4A8)
-F (..\User\module\at9s_pro_cmd.h)(0x68E13166)()
+F (..\User\module\at9s_pro_cmd.h)(0x68F49822)()
-F (..\User\module\xm_quadctrl.c)(0x68F100E8)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_DveC

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o dvec/xm_quadctrl.o -MD)
+F (..\User\module\xm_quadctrl.c)(0x68F490BD)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_DveC

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o dvec/xm_quadctrl.o -MD)
-F (..\User\module\xm_quadctrl.h)(0x68F100E8)()
+I (..\User\module\xm_quadctrl.h)(0x68F49821)
+I (..\User\device\at9s_pro.h)(0x68F1001A)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
+I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
+I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
+I (..\User\component\user_math.h)(0x68F0EAFF)
+I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
+I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
+I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
+I (..\User\device\device.h)(0x68F0FFC5)
+I (..\User\component\pid.h)(0x68F0EAFF)
+I (..\User\component\filter.h)(0x68F0EAFF)
+I (..\User\bsp\pwm.h)(0x68F0EAFF)
+I (..\Core\Inc\tim.h)(0x68DF6BC0)
+I (..\Core\Inc\main.h)(0x68F1B727)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)
+I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68DF6BC0)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h)(0x68AD823F)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h)(0x68AD823F)
+I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x68AD823F)
+I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x68AD823F)
+I (..\Drivers\CMSIS\Include\core_cm4.h)(0x68AD823F)
+I (..\Drivers\CMSIS\Include\cmsis_version.h)(0x68AD823F)
+I (..\Drivers\CMSIS\Include\cmsis_compiler.h)(0x68AD823F)
+I (..\Drivers\CMSIS\Include\cmsis_armclang.h)(0x68AD823F)
+I (..\Drivers\CMSIS\Include\mpu_armv7.h)(0x68AD823F)
+I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h)(0x68AD823F)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h)(0x68AD823F)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h)(0x68AD823F)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h)(0x68AD823F)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h)(0x68AD823F)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h)(0x68AD823F)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h)(0x68AD823F)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h)(0x68AD823F)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h)(0x68AD823F)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h)(0x68AD823F)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h)(0x68AD823F)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h)(0x68AD823F)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h)(0x68AD823F)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h)(0x68AD823F)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h)(0x68AD823F)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h)(0x68AD823F)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68AD823F)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68AD823F)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68AD823F)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68AD823F)
+I (..\User\bsp\bsp.h)(0x68F0EAFF)
+I (..\User\bsp\time.h)(0x68F0EAFF)
+I (..\User\module\HeightEstimation.h)(0x68F1FDF4)
+F (..\User\module\xm_quadctrl.h)(0x68F49821)()
 F (..\User\module\HeightEstimation.c)(0x68F200A2)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_DveC

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o dvec/heightestimation.o -MD)
 I (..\User\bsp\time.h)(0x68F0EAFF)
 I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
@@ -1967,7 +2016,7 @@ I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
 I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
 I (..\User\device\device.h)(0x68F0FFC5)
 I (..\User\component\filter.h)(0x68F0EAFF)
-I (..\User\task\user_task.h)(0x68F1F1D6)
+I (..\User\task\user_task.h)(0x68F49892)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68AD8208)
 I (..\Core\Inc\FreeRTOSConfig.h)(0x68F0EA65)
@@ -1979,8 +2028,121 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
 F (..\User\module\HeightEstimation.h)(0x68F1FDF4)()
-F (..\User\task\atti_esti.c)(0x68F20370)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_DveC

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o dvec/atti_esti.o -MD)
+F (..\User\task\init.c)(0x68F49BE0)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_DveC

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o dvec/init.o -MD)
-I (..\User\task\user_task.h)(0x68F1F1D6)
+I (..\User\task\user_task.h)(0x68F49892)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
+I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
+I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68AD8208)
+I (..\Core\Inc\FreeRTOSConfig.h)(0x68F0EA65)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
+I (..\User\component\ahrs.h)(0x68F0EAFF)
+I (..\User\component\user_math.h)(0x68F0EAFF)
+I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
+I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
+I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
+I (..\User\module\xm_quadctrl.h)(0x68F49821)
+I (..\User\device\at9s_pro.h)(0x68F1001A)
+I (..\User\device\device.h)(0x68F0FFC5)
+I (..\User\component\pid.h)(0x68F0EAFF)
+I (..\User\component\filter.h)(0x68F0EAFF)
+F (..\User\task\user_task.c)(0x68F496CD)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_DveC

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o dvec/user_task.o -MD)
+I (..\User\task\user_task.h)(0x68F49892)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
+I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
+I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68AD8208)
+I (..\Core\Inc\FreeRTOSConfig.h)(0x68F0EA65)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
+F (..\User\task\user_task.h)(0x68F49892)()
+F (..\User\task\blink.c)(0x68F496CD)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_DveC

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o dvec/blink.o -MD)
+I (..\User\task\user_task.h)(0x68F49892)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
+I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
+I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68AD8208)
+I (..\Core\Inc\FreeRTOSConfig.h)(0x68F0EA65)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
+I (..\User\bsp\pwm.h)(0x68F0EAFF)
+I (..\Core\Inc\tim.h)(0x68DF6BC0)
+I (..\Core\Inc\main.h)(0x68F1B727)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)
+I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68DF6BC0)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h)(0x68AD823F)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h)(0x68AD823F)
+I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x68AD823F)
+I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x68AD823F)
+I (..\Drivers\CMSIS\Include\core_cm4.h)(0x68AD823F)
+I (..\Drivers\CMSIS\Include\cmsis_version.h)(0x68AD823F)
+I (..\Drivers\CMSIS\Include\cmsis_compiler.h)(0x68AD823F)
+I (..\Drivers\CMSIS\Include\cmsis_armclang.h)(0x68AD823F)
+I (..\Drivers\CMSIS\Include\mpu_armv7.h)(0x68AD823F)
+I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h)(0x68AD823F)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h)(0x68AD823F)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h)(0x68AD823F)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h)(0x68AD823F)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h)(0x68AD823F)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h)(0x68AD823F)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h)(0x68AD823F)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h)(0x68AD823F)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h)(0x68AD823F)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h)(0x68AD823F)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h)(0x68AD823F)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h)(0x68AD823F)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h)(0x68AD823F)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h)(0x68AD823F)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h)(0x68AD823F)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h)(0x68AD823F)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68AD823F)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68AD823F)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68AD823F)
+I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68AD823F)
+I (..\User\bsp\bsp.h)(0x68F0EAFF)
+I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
+F (..\User\task\cmd.c)(0x68F49980)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_DveC

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o dvec/cmd_1.o -MD)
+I (..\User\task\user_task.h)(0x68F49892)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
+I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
+I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68AD8208)
+I (..\Core\Inc\FreeRTOSConfig.h)(0x68F0EA65)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
+I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
+I (..\User\device\at9s_pro.h)(0x68F1001A)
+I (..\User\component\user_math.h)(0x68F0EAFF)
+I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
+I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
+I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
+I (..\User\device\device.h)(0x68F0FFC5)
+I (..\User\module\at9s_pro_cmd.h)(0x68F49822)
+I (..\User\module\xm_quadctrl.h)(0x68F49821)
+I (..\User\component\pid.h)(0x68F0EAFF)
+I (..\User\component\filter.h)(0x68F0EAFF)
+F (..\User\task\atti_esti.c)(0x68F496CD)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_DveC

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o dvec/atti_esti.o -MD)
+I (..\User\task\user_task.h)(0x68F49892)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
 I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
 I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
@@ -2039,8 +2201,8 @@ I (..\User\component\pid.h)(0x68F0EAFF)
 I (..\User\component\filter.h)(0x68F0EAFF)
 I (..\User\device\bmi088.h)(0x68F0E47F)
 I (..\User\device\device.h)(0x68F0FFC5)
-F (..\User\task\height_cal.c)(0x68F1FDEB)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_DveC

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o dvec/height_cal.o -MD)
+F (..\User\task\height_cal.c)(0x68F496CD)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_DveC

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o dvec/height_cal.o -MD)
-I (..\User\task\user_task.h)(0x68F1F1D6)
+I (..\User\task\user_task.h)(0x68F49892)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
 I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
 I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
@@ -2096,8 +2258,8 @@ I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68AD823F)
 I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68AD823F)
 I (..\User\module\HeightEstimation.h)(0x68F1FDF4)
 I (..\User\device\at9s_pro.h)(0x68F1001A)
-F (..\User\task\init.c)(0x68F20304)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_DveC

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o dvec/init.o -MD)
+F (..\User\task\quad_ctrl.c)(0x68F49980)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_DveC

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o dvec/quad_ctrl.o -MD)
-I (..\User\task\user_task.h)(0x68F1F1D6)
+I (..\User\task\user_task.h)(0x68F49892)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
 I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
 I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
@@ -2110,153 +2272,13 @@ I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
 I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
-I (..\User\component\ahrs.h)(0x68F0EAFF)
+I (..\User\module\xm_quadctrl.h)(0x68F49821)
-I (..\User\component\user_math.h)(0x68F0EAFF)
-I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
-I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
-I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
-F (..\User\task\main_control.c)(0x68F100F9)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_DveC

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o dvec/main_control.o -MD)
-I (..\User\task\user_task.h)(0x68F1F1D6)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
-I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
-I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68AD8208)
-I (..\Core\Inc\FreeRTOSConfig.h)(0x68F0EA65)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
-I (..\Core\Inc\main.h)(0x68F1B727)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)
-I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68DF6BC0)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h)(0x68AD823F)
-I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x68AD823F)
-I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x68AD823F)
-I (..\Drivers\CMSIS\Include\core_cm4.h)(0x68AD823F)
-I (..\Drivers\CMSIS\Include\cmsis_version.h)(0x68AD823F)
-I (..\Drivers\CMSIS\Include\cmsis_compiler.h)(0x68AD823F)
-I (..\Drivers\CMSIS\Include\cmsis_armclang.h)(0x68AD823F)
-I (..\Drivers\CMSIS\Include\mpu_armv7.h)(0x68AD823F)
-I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68AD823F)
-I (..\User\module\xm_quadctrl.h)(0x68F100E8)
 I (..\User\device\at9s_pro.h)(0x68F1001A)
 I (..\User\component\user_math.h)(0x68F0EAFF)
 I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
 I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
 I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
 I (..\User\device\device.h)(0x68F0FFC5)
-I (..\User\device\buzzer.h)(0x68F0E47F)
+I (..\User\component\pid.h)(0x68F0EAFF)
-I (..\User\bsp\pwm.h)(0x68F0EAFF)
+I (..\User\component\filter.h)(0x68F0EAFF)
-I (..\Core\Inc\tim.h)(0x68DF6BC0)
+I (..\User\module\config.h)(0x68F49094)
-I (..\User\bsp\bsp.h)(0x68F0EAFF)
-I (..\User\bsp\time.h)(0x68F0EAFF)
-I (..\User\component\ahrs.h)(0x68F0EAFF)
-F (..\User\task\user_task.c)(0x68F0E603)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_DveC

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o dvec/user_task.o -MD)
-I (..\User\task\user_task.h)(0x68F1F1D6)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
-I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
-I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68AD8208)
-I (..\Core\Inc\FreeRTOSConfig.h)(0x68F0EA65)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
-F (..\User\task\user_task.h)(0x68F1F1D6)()
-F (..\User\task\blink.c)(0x68F101B9)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_DveC

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o dvec/blink.o -MD)
-I (..\User\task\user_task.h)(0x68F1F1D6)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
-I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
-I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68AD8208)
-I (..\Core\Inc\FreeRTOSConfig.h)(0x68F0EA65)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
-I (..\User\bsp\pwm.h)(0x68F0EAFF)
-I (..\Core\Inc\tim.h)(0x68DF6BC0)
-I (..\Core\Inc\main.h)(0x68F1B727)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h)(0x68AD823F)
-I (..\Core\Inc\stm32f4xx_hal_conf.h)(0x68DF6BC0)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h)(0x68AD823F)
-I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h)(0x68AD823F)
-I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h)(0x68AD823F)
-I (..\Drivers\CMSIS\Include\core_cm4.h)(0x68AD823F)
-I (..\Drivers\CMSIS\Include\cmsis_version.h)(0x68AD823F)
-I (..\Drivers\CMSIS\Include\cmsis_compiler.h)(0x68AD823F)
-I (..\Drivers\CMSIS\Include\cmsis_armclang.h)(0x68AD823F)
-I (..\Drivers\CMSIS\Include\mpu_armv7.h)(0x68AD823F)
-I (..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h)(0x68AD823F)
-I (..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h)(0x68AD823F)
-I (..\User\bsp\bsp.h)(0x68F0EAFF)
-I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
-F (..\User\task\rc.c)(0x68F204CB)(-xc -std=c99 --target=arm-arm-none-eabi -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard -c

-fno-rtti -funsigned-char -fshort-enums -fshort-wchar

-gdwarf-3 -O1 -ffunction-sections -Wno-packed -Wno-missing-variable-declarations -Wno-missing-prototypes -Wno-missing-noreturn -Wno-sign-conversion -Wno-nonportable-include-path -Wno-reserved-id-macro -Wno-unused-macros -Wno-documentation-unknown-command -Wno-documentation -Wno-license-management -Wno-parentheses-equality -I ../Core/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc -I ../Drivers/STM32F4xx_HAL_Driver/Inc/Legacy -I ../Middlewares/Third_Party/FreeRTOS/Source/include -I ../Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS_V2 -I ../Middlewares/Third_Party/FreeRTOS/Source/portable/RVDS/ARM_CM4F -I ../Drivers/CMSIS/Device/ST/STM32F4xx/Include -I ../Drivers/CMSIS/Include -I ../User

-I./RTE/_DveC

-ID:/cangming/ARM/CMSIS/5.7.0/CMSIS/Core/Include

-ID:/cangming/keil/STM32F4xx_DFP/2.15.0/Drivers/CMSIS/Device/ST/STM32F4xx/Include

-D__UVISION_VERSION="534" -D_RTE_ -DSTM32F407xx -D_RTE_ -DUSE_HAL_DRIVER -DSTM32F407xx

-o dvec/rc.o -MD)
-I (..\User\task\user_task.h)(0x68F1F1D6)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h)(0x68AD8208)
-I (D:\cangming\ARM\ARMCLANG\include\stdint.h)(0x6035A4A8)
-I (D:\cangming\ARM\ARMCLANG\include\stddef.h)(0x6035A4A8)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h)(0x68AD8208)
-I (..\Core\Inc\FreeRTOSConfig.h)(0x68F0EA65)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h)(0x68AD8208)
-I (..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h)(0x68AD8208)
-I (..\User\device\at9s_pro.h)(0x68F1001A)
-I (..\User\component\user_math.h)(0x68F0EAFF)
-I (D:\cangming\ARM\ARMCLANG\include\float.h)(0x6035A4A0)
-I (D:\cangming\ARM\ARMCLANG\include\math.h)(0x6035A4A8)
-I (D:\cangming\ARM\ARMCLANG\include\stdbool.h)(0x6035A4A8)
-I (..\User\device\device.h)(0x68F0FFC5)
-I (..\User\module\at9s_pro_cmd.h)(0x68E13166)

MDK-ARM/DveC/cmd_1.d

@@ -0,0 +1,20 @@
+dvec/cmd_1.o: ..\User\task\cmd.c ..\User\task\user_task.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdint.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\stddef.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
+  ..\Core\Inc\FreeRTOSConfig.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
+  ..\User\device\at9s_pro.h ..\User\component\user_math.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\float.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\math.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdbool.h \
+  ..\User\device\device.h ..\User\module\at9s_pro_cmd.h \
+  ..\User\module\xm_quadctrl.h ..\User\component\pid.h \
+  ..\User\component\filter.h

MDK-ARM/DveC/config.d

@@ -1,2 +1,11 @@
 dvec/config.o: ..\User\module\config.c ..\User\module\config.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdint.h
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdint.h \
+  ..\User\module\xm_quadctrl.h ..\User\device\at9s_pro.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\stddef.h \
+  ..\User\component\user_math.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\float.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\math.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdbool.h \
+  ..\User\device\device.h ..\User\component\pid.h \
+  ..\User\component\filter.h

MDK-ARM/DveC/height_cal.d

@@ -11,6 +11,7 @@ dvec/height_cal.o: ..\User\task\height_cal.c ..\User\task\user_task.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
+  ..\User\task\user_task.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\include\timers.h \
   ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
   ..\User\device\bmi088.h \

MDK-ARM/DveC/init.d

@@ -14,4 +14,7 @@ dvec/init.o: ..\User\task\init.c ..\User\task\user_task.h \
   ..\User\component\ahrs.h ..\User\component\user_math.h \
   D:\cangming\ARM\ARMCLANG\Bin\..\include\float.h \
   D:\cangming\ARM\ARMCLANG\Bin\..\include\math.h \
-  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdbool.h
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdbool.h \
+  ..\User\module\xm_quadctrl.h ..\User\device\at9s_pro.h \
+  ..\User\device\device.h ..\User\component\pid.h \
+  ..\User\component\filter.h

MDK-ARM/DveC/main_control.d

@@ -47,6 +47,7 @@ dvec/main_control.o: ..\User\task\main_control.c ..\User\task\user_task.h \
   D:\cangming\ARM\ARMCLANG\Bin\..\include\float.h \
   D:\cangming\ARM\ARMCLANG\Bin\..\include\math.h \
   D:\cangming\ARM\ARMCLANG\Bin\..\include\stdbool.h \
-  ..\User\device\device.h ..\User\device\buzzer.h ..\User\bsp\pwm.h \
+  ..\User\device\device.h ..\User\component\pid.h \
+  ..\User\component\filter.h ..\User\device\buzzer.h ..\User\bsp\pwm.h \
   ..\Core\Inc\tim.h ..\Core\Inc\main.h ..\User\bsp\bsp.h \
   ..\User\bsp\time.h ..\User\component\ahrs.h

MDK-ARM/DveC/quad_ctrl.d

@@ -0,0 +1,20 @@
+dvec/quad_ctrl.o: ..\User\task\quad_ctrl.c ..\User\task\user_task.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdint.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\stddef.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\FreeRTOS.h \
+  ..\Core\Inc\FreeRTOSConfig.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\projdefs.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\portable.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\deprecated_definitions.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\portable\RVDS\ARM_CM4F\portmacro.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\mpu_wrappers.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\task.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\include\list.h \
+  ..\User\module\xm_quadctrl.h ..\User\device\at9s_pro.h \
+  ..\User\component\user_math.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\float.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\math.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdbool.h \
+  ..\User\device\device.h ..\User\component\pid.h \
+  ..\User\component\filter.h ..\User\module\config.h

MDK-ARM/DveC/xm_quadctrl.d

@@ -1 +1,43 @@
-dvec/xm_quadctrl.o: ..\User\module\xm_quadctrl.c
+dvec/xm_quadctrl.o: ..\User\module\xm_quadctrl.c \
+  ..\User\module\xm_quadctrl.h ..\User\device\at9s_pro.h \
+  ..\Middlewares\Third_Party\FreeRTOS\Source\CMSIS_RTOS_V2\cmsis_os2.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdint.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\stddef.h \
+  ..\User\component\user_math.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\float.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\math.h \
+  D:\cangming\ARM\ARMCLANG\Bin\..\include\stdbool.h \
+  ..\User\device\device.h ..\User\component\pid.h \
+  ..\User\component\filter.h ..\User\bsp\pwm.h ..\Core\Inc\tim.h \
+  ..\Core\Inc\main.h ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal.h \
+  ..\Core\Inc\stm32f4xx_hal_conf.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_def.h \
+  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f4xx.h \
+  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\stm32f407xx.h \
+  ..\Drivers\CMSIS\Include\core_cm4.h \
+  ..\Drivers\CMSIS\Include\cmsis_version.h \
+  ..\Drivers\CMSIS\Include\cmsis_compiler.h \
+  ..\Drivers\CMSIS\Include\cmsis_armclang.h \
+  ..\Drivers\CMSIS\Include\mpu_armv7.h \
+  ..\Drivers\CMSIS\Device\ST\STM32F4xx\Include\system_stm32f4xx.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\Legacy\stm32_hal_legacy.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_rcc_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_gpio_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_exti.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_dma_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_cortex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_flash_ramfunc.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_i2c_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_pwr_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_spi.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_tim_ex.h \
+  ..\Drivers\STM32F4xx_HAL_Driver\Inc\stm32f4xx_hal_uart.h \
+  ..\User\bsp\bsp.h ..\User\bsp\time.h ..\User\module\HeightEstimation.h

User/component/cmd.c

@@ -1,387 +0,0 @@
-/*
-  控制命令
-*/
-
-#include "cmd.h"
-
-#include <string.h>
-
-/* USER INCLUDE BEGIN */
-
-/* USER INCLUDE END */
-
-/* USER DEFINE BEGIN */
-
-/* USER DEFINE END */
-
-/**
- * @brief 行为转换为对应按键
- *
- * @param cmd 主结构体
- * @param behavior 行为
- * @return uint16_t 行为对应的按键
- */
-static inline CMD_KeyValue_t CMD_BehaviorToKey(CMD_t *cmd,
-                                               CMD_Behavior_t behavior) {
-  return cmd->param->map.key_map[behavior].key;
-}
-
-static inline CMD_ActiveType_t CMD_BehaviorToActive(CMD_t *cmd,
-                                                    CMD_Behavior_t behavior) {
-  return cmd->param->map.key_map[behavior].active;
-}
-
-/**
- * @brief 检查按键是否按下
- *
- * @param rc 遥控器数据
- * @param key 按键名称
- * @param stateful 是否为状态切换按键
- * @return true 按下
- * @return false 未按下
- */
-static bool CMD_KeyPressedRc(const CMD_RC_t *rc, CMD_KeyValue_t key) {
-  /* 按下按键为鼠标左、右键 */
-  if (key == CMD_L_CLICK) {
-    return rc->mouse.l_click;
-  }
-  if (key == CMD_R_CLICK) {
-    return rc->mouse.r_click;
-  }
-  return rc->key & (1u << key);
-}
-
-static bool CMD_BehaviorOccurredRc(const CMD_RC_t *rc, CMD_t *cmd,
-                                   CMD_Behavior_t behavior) {
-  CMD_KeyValue_t key = CMD_BehaviorToKey(cmd, behavior);
-  CMD_ActiveType_t active = CMD_BehaviorToActive(cmd, behavior);
-
-  bool now_key_pressed, last_key_pressed;
-
-  /* 按下按键为鼠标左、右键 */
-  if (key == CMD_L_CLICK) {
-    now_key_pressed = rc->mouse.l_click;
-    last_key_pressed = cmd->mouse_last.l_click;
-  } else if (key == CMD_R_CLICK) {
-    now_key_pressed = rc->mouse.r_click;
-    last_key_pressed = cmd->mouse_last.r_click;
-  } else {
-    now_key_pressed = rc->key & (1u << key);
-    last_key_pressed = cmd->key_last & (1u << key);
-  }
-
-  switch (active) {
-    case CMD_ACTIVE_PRESSING:
-      return now_key_pressed && !last_key_pressed;
-    case CMD_ACTIVE_RASING:
-      return !now_key_pressed && last_key_pressed;
-    case CMD_ACTIVE_PRESSED:
-      return now_key_pressed;
-  }
-}
-
-/**
- * @brief 解析pc行为逻辑
- *
- * @param rc 遥控器数据
- * @param cmd 主结构体
- * @param dt_sec 两次解析的间隔
- */
-static void CMD_PcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec) {
-  cmd->gimbal.mode = GIMBAL_MODE_ABSOLUTE;
-
-  /* 云台设置为鼠标控制欧拉角的变化，底盘的控制向量设置为零 */
-  cmd->gimbal.delta_eulr.yaw =
-      (float)rc->mouse.x * dt_sec * cmd->param->sens_mouse;
-  cmd->gimbal.delta_eulr.pit =
-      (float)(-rc->mouse.y) * dt_sec * cmd->param->sens_mouse;
-  cmd->chassis.ctrl_vec.vx = cmd->chassis.ctrl_vec.vy = 0.0f;
-  cmd->shoot.reverse_trig = false;
-
-  /* 按键行为映射相关逻辑 */
-  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_FORE)) {
-    cmd->chassis.ctrl_vec.vy += cmd->param->move.move_sense;
-  }
-  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_BACK)) {
-    cmd->chassis.ctrl_vec.vy -= cmd->param->move.move_sense;
-  }
-  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_LEFT)) {
-    cmd->chassis.ctrl_vec.vx -= cmd->param->move.move_sense;
-  }
-  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_RIGHT)) {
-    cmd->chassis.ctrl_vec.vx += cmd->param->move.move_sense;
-  }
-  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_ACCELERATE)) {
-    cmd->chassis.ctrl_vec.vx *= cmd->param->move.move_fast_sense;
-    cmd->chassis.ctrl_vec.vy *= cmd->param->move.move_fast_sense;
-  }
-  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_DECELEBRATE)) {
-    cmd->chassis.ctrl_vec.vx *= cmd->param->move.move_slow_sense;
-    cmd->chassis.ctrl_vec.vy *= cmd->param->move.move_slow_sense;
-  }
-  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_FIRE)) {
-    /* 切换至开火模式，设置相应的射击频率和弹丸初速度 */
-    cmd->shoot.mode = SHOOT_MODE_LOADED;
-    cmd->shoot.fire = true;
-  } else {
-    /* 切换至准备模式，停止射击 */
-    cmd->shoot.mode = SHOOT_MODE_LOADED;
-    cmd->shoot.fire = false;
-  }
-  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_FIRE_MODE)) {
-    /* 每按一次依次切换开火下一个模式 */
-    cmd->shoot.fire_mode++;
-    cmd->shoot.fire_mode %= FIRE_MODE_NUM;
-  }
-  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_ROTOR)) {
-    /* 切换到小陀螺模式 */
-    cmd->chassis.mode = CHASSIS_MODE_ROTOR;
-    cmd->chassis.mode_rotor = ROTOR_MODE_RAND;
-  }
-  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_OPENCOVER)) {
-    /* 每按一次开、关弹舱盖 */
-    cmd->shoot.cover_open = !cmd->shoot.cover_open;
-  }
-  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_BUFF)) {
-    if (cmd->ai_status == AI_STATUS_HITSWITCH) {
-      /* 停止ai的打符模式，停用host控制 */
-      CMD_RefereeAdd(&(cmd->referee), CMD_UI_HIT_SWITCH_STOP);
-      cmd->host_overwrite = false;
-      cmd->ai_status = AI_STATUS_STOP;
-    } else if (cmd->ai_status == AI_STATUS_AUTOAIM) {
-      /* 自瞄模式中切换失败提醒 */
-    } else {
-      /* ai切换至打符模式，启用host控制 */
-      CMD_RefereeAdd(&(cmd->referee), CMD_UI_HIT_SWITCH_START);
-      cmd->ai_status = AI_STATUS_HITSWITCH;
-      cmd->host_overwrite = true;
-    }
-  }
-  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_AUTOAIM)) {
-    if (cmd->ai_status == AI_STATUS_AUTOAIM) {
-      /* 停止ai的自瞄模式，停用host控制 */
-      cmd->host_overwrite = false;
-      cmd->ai_status = AI_STATUS_STOP;
-      CMD_RefereeAdd(&(cmd->referee), CMD_UI_AUTO_AIM_STOP);
-    } else {
-      /* ai切换至自瞄模式，启用host控制 */
-      cmd->ai_status = AI_STATUS_AUTOAIM;
-      cmd->host_overwrite = true;
-      CMD_RefereeAdd(&(cmd->referee), CMD_UI_AUTO_AIM_START);
-    }
-  } else {
-    cmd->host_overwrite = false;
-    // TODO: 修复逻辑
-  }
-  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_REVTRIG)) {
-    /* 按下拨弹反转 */
-    cmd->shoot.reverse_trig = true;
-  }
-  if (CMD_BehaviorOccurredRc(rc, cmd, CMD_BEHAVIOR_FOLLOWGIMBAL35)) {
-    cmd->chassis.mode = CHASSIS_MODE_FOLLOW_GIMBAL_35;
-  }
-  /* 保存当前按下的键位状态 */
-  cmd->key_last = rc->key;
-  memcpy(&(cmd->mouse_last), &(rc->mouse), sizeof(cmd->mouse_last));
-}
-
-/**
- * @brief 解析rc行为逻辑
- *
- * @param rc 遥控器数据
- * @param cmd 主结构体
- * @param dt_sec 两次解析的间隔
- */
-static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec) {
-  switch (rc->sw_l) {
-      /* 左拨杆相应行为选择和解析 */
-    case CMD_SW_UP:
-      cmd->chassis.mode = CHASSIS_MODE_BREAK;
-      break;
-
-    case CMD_SW_MID:
-      cmd->chassis.mode = CHASSIS_MODE_FOLLOW_GIMBAL;
-      break;
-
-    case CMD_SW_DOWN:
-      cmd->chassis.mode = CHASSIS_MODE_ROTOR;
-      cmd->chassis.mode_rotor = ROTOR_MODE_CW;
-      break;
-
-    case CMD_SW_ERR:
-      cmd->chassis.mode = CHASSIS_MODE_RELAX;
-      break;
-  }
-  switch (rc->sw_r) {
-      /* 右拨杆相应行为选择和解析*/ 
-    case CMD_SW_UP:
-      cmd->gimbal.mode = GIMBAL_MODE_ABSOLUTE;
-      cmd->shoot.mode = SHOOT_MODE_SAFE;
-      break;
-
-    case CMD_SW_MID:
-      cmd->gimbal.mode = GIMBAL_MODE_ABSOLUTE;
-      cmd->shoot.fire = false;
-      cmd->shoot.mode = SHOOT_MODE_LOADED;
-      break;
-
-    case CMD_SW_DOWN:
-      cmd->gimbal.mode = GIMBAL_MODE_ABSOLUTE;
-      cmd->shoot.mode = SHOOT_MODE_LOADED;
-      cmd->shoot.fire_mode = FIRE_MODE_SINGLE;
-      cmd->shoot.fire = true;
-      break;
-		/*
-		    case CMD_SW_UP:
-      cmd->gimbal.mode = GIMBAL_MODE_RELAX;
-      cmd->shoot.mode = SHOOT_MODE_SAFE;
-      break;
-
-    case CMD_SW_MID:
-      cmd->gimbal.mode = GIMBAL_MODE_RELAX;
-      cmd->shoot.fire = false;
-      cmd->shoot.mode = SHOOT_MODE_LOADED;
-      break;
-
-    case CMD_SW_DOWN:
-      cmd->gimbal.mode = GIMBAL_MODE_RELAX;
-      cmd->shoot.mode = SHOOT_MODE_LOADED;
-      cmd->shoot.fire_mode = FIRE_MODE_SINGLE;
-      cmd->shoot.fire = true;
-      break;
-		*/
-    case CMD_SW_ERR:
-      cmd->gimbal.mode = GIMBAL_MODE_RELAX;
-      cmd->shoot.mode = SHOOT_MODE_RELAX;
-  }
-  /* 将操纵杆的对应值转换为底盘的控制向量和云台变化的欧拉角 */
-  cmd->chassis.ctrl_vec.vx = rc->ch_l_x;
-  cmd->chassis.ctrl_vec.vy = rc->ch_l_y;
-  cmd->gimbal.delta_eulr.yaw = rc->ch_r_x * dt_sec * cmd->param->sens_rc;
-  cmd->gimbal.delta_eulr.pit = rc->ch_r_y * dt_sec * cmd->param->sens_rc;
-}
-
-/**
- * @brief rc失控时机器人恢复放松模式
- *
- * @param cmd 主结构体
- */
-static void CMD_RcLostLogic(CMD_t *cmd) {
-  /* 机器人底盘、云台、射击运行模式恢复至放松模式 */
-  cmd->chassis.mode = CHASSIS_MODE_RELAX;
-  cmd->gimbal.mode = GIMBAL_MODE_RELAX;
-  cmd->shoot.mode = SHOOT_MODE_RELAX;
-}
-
-/**
- * @brief 初始化命令解析
- *
- * @param cmd 主结构体
- * @param param 参数
- * @return int8_t 0对应没有错误
- */
-int8_t CMD_Init(CMD_t *cmd, const CMD_Params_t *param) {
-  /* 指针检测 */
-  if (cmd == NULL) return -1;
-  if (param == NULL) return -1;
-
-  /* 设置机器人的命令参数，初始化控制方式为rc控制 */
-  cmd->pc_ctrl = false;
-  cmd->param = param;
-
-  return 0;
-}
-
-/**
- * @brief 检查是否启用上位机控制指令覆盖
- *
- * @param cmd 主结构体
- * @return true 启用
- * @return false 不启用
- */
-inline bool CMD_CheckHostOverwrite(CMD_t *cmd) { return cmd->host_overwrite; }
-
-/**
- * @brief 解析命令
- *
- * @param rc 遥控器数据
- * @param cmd 命令
- * @param dt_sec 两次解析的间隔
- * @return int8_t 0对应没有错误
- */
-int8_t CMD_ParseRc(CMD_RC_t *rc, CMD_t *cmd, float dt_sec) {
-  /* 指针检测 */
-  if (rc == NULL) return -1;
-  if (cmd == NULL) return -1;
-
-  /* 在pc控制和rc控制间切换 */
-  if (CMD_KeyPressedRc(rc, CMD_KEY_SHIFT) &&
-      CMD_KeyPressedRc(rc, CMD_KEY_CTRL) && CMD_KeyPressedRc(rc, CMD_KEY_Q))
-    cmd->pc_ctrl = true;
-
-  if (CMD_KeyPressedRc(rc, CMD_KEY_SHIFT) &&
-      CMD_KeyPressedRc(rc, CMD_KEY_CTRL) && CMD_KeyPressedRc(rc, CMD_KEY_E))
-    cmd->pc_ctrl = false;
-  /*c当rc丢控时，恢复机器人至默认状态 */
-  if ((rc->sw_l == CMD_SW_ERR) || (rc->sw_r == CMD_SW_ERR)) {
-    CMD_RcLostLogic(cmd);
-  } else {
-    if (cmd->pc_ctrl) {
-      CMD_PcLogic(rc, cmd, dt_sec);
-    } else {
-      CMD_RcLogic(rc, cmd, dt_sec);
-    }
-  }
-  return 0;
-}
-
-/**
- * @brief 解析上位机命令
- *
- * @param host host数据
- * @param cmd 命令
- * @param dt_sec 两次解析的间隔
- * @return int8_t 0对应没有错误
- */
-int8_t CMD_ParseHost(const CMD_Host_t *host, CMD_t *cmd, float dt_sec) {
-  (void)dt_sec; /* 未使用dt_sec，消除警告 */
-  /* 指针检测 */
-  if (host == NULL) return -1;
-  if (cmd == NULL) return -1;
-
-  /* 云台欧拉角设置为host相应的变化的欧拉角 */
-  cmd->gimbal.delta_eulr.yaw = host->gimbal_delta.yaw;
-  cmd->gimbal.delta_eulr.pit = host->gimbal_delta.pit;
-
-  /* host射击命令，设置不同的射击频率和弹丸初速度 */
-  if (host->fire) {
-    cmd->shoot.mode = SHOOT_MODE_LOADED;
-    cmd->shoot.fire = true;
-  } else {
-    cmd->shoot.mode = SHOOT_MODE_SAFE;
-  }
-  return 0;
-}
-
-/**
- * @brief 添加向Referee发送的命令
- *
- * @param ref 命令队列
- * @param cmd 要添加的命令
- * @return int8_t 0对应没有错误
- */
-int8_t CMD_RefereeAdd(CMD_RefereeCmd_t *ref, CMD_UI_t cmd) {
-  /* 指针检测 */
-  if (ref == NULL) return -1;
-  /* 越界检测 */
-  if (ref->counter >= CMD_REFEREE_MAX_NUM || ref->counter < 0) return -1;
-
-  /* 添加机器人当前行为状态到画图的命令队列中 */
-  ref->cmd[ref->counter] = cmd;
-  ref->counter++;
-  return 0;
-}
-
-/* USER FUNCTION BEGIN */
-
-/* USER FUNCTION END */

User/component/cmd.h

@@ -1,318 +0,0 @@
-/*
-  控制命令
-*/
-
-#pragma once
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include <stdbool.h>
-#include <stdint.h>
-
-#include "component/ahrs.h"
-
-/* USER INCLUDE BEGIN */
-
-/* USER INCLUDE END */
-
-#define CMD_REFEREE_MAX_NUM (3) /* Lines 16 omitted */
-
-/* USER DEFINE BEGIN */
-
-/* USER DEFINE END */
-
-/* 机器人型号 */
-typedef enum {
-  ROBOT_MODEL_INFANTRY = 0, /* 步兵机器人 */
-  ROBOT_MODEL_HERO,         /* 英雄机器人 */
-  ROBOT_MODEL_ENGINEER,     /* 工程机器人 */
-  ROBOT_MODEL_DRONE,        /* 空中机器人 */
-  ROBOT_MODEL_SENTRY,       /* 哨兵机器人 */
-  ROBOT_MODEL_NUM,          /* 型号数量 */
-} CMD_RobotModel_t;
-
-/* 底盘运行模式 */
-typedef enum {
-  CHASSIS_MODE_RELAX, /* 放松模式，电机不输出。一般情况底盘初始化之后的模式 */
-  CHASSIS_MODE_BREAK, /* 刹车模式，电机闭环控制保持静止。用于机器人停止状态 */
-  CHASSIS_MODE_FOLLOW_GIMBAL, /* 通过闭环控制使车头方向跟随云台 */
-  CHASSIS_MODE_FOLLOW_GIMBAL_35, /* 通过闭环控制使车头方向35度跟随云台 */
-  CHASSIS_MODE_ROTOR, /* 小陀螺模式，通过闭环控制使底盘不停旋转 */
-  CHASSIS_MODE_INDENPENDENT, /* 独立模式。底盘运行不受云台影响 */
-  CHASSIS_MODE_OPEN, /* 开环模式。底盘运行不受PID控制，直接输出到电机 */
-} CMD_ChassisMode_t;
-
-/* 云台运行模式 */
-typedef enum {
-  GIMBAL_MODE_RELAX, /* 放松模式，电机不输出。一般情况云台初始化之后的模式 */
-  GIMBAL_MODE_ABSOLUTE, /* 绝对坐标系控制，控制在空间内的绝对姿态 */
-  GIMBAL_MODE_RELATIVE, /* 相对坐标系控制，控制相对于底盘的姿态 */
-} CMD_GimbalMode_t;
-
-/* 射击运行模式 */
-typedef enum {
-  SHOOT_MODE_RELAX,  /* 放松模式，电机不输出 */
-  SHOOT_MODE_SAFE,   /* 保险模式，电机闭环控制保持静止 */
-  SHOOT_MODE_LOADED, /* 上膛模式，摩擦轮开启。随时准备开火 */
-} CMD_ShootMode_t;
-
-typedef enum {
-  FIRE_MODE_SINGLE, /* 单发开火模式  */
-  FIRE_MODE_BURST,  /* N连发开火模式 */
-  FIRE_MODE_CONT,   /* 持续开火模式 */
-  FIRE_MODE_NUM,
-} CMD_FireMode_t;
-
-/* 小陀螺转动模式 */
-typedef enum {
-  ROTOR_MODE_CW,   /* 顺时针转动 */
-  ROTOR_MODE_CCW,  /* 逆时针转动 */
-  ROTOR_MODE_RAND, /* 随机转动 */
-} CMD_RotorMode_t;
-
-/* 底盘控制命令 */
-typedef struct {
-  CMD_ChassisMode_t mode;     /* 底盘运行模式 */
-  CMD_RotorMode_t mode_rotor; /* 小陀螺转动模式 */
-  MoveVector_t ctrl_vec;      /* 底盘控制向量 */
-} CMD_ChassisCmd_t;
-
-/* 云台控制命令 */
-typedef struct {
-  CMD_GimbalMode_t mode;  /* 云台运行模式 */
-  AHRS_Eulr_t delta_eulr; /* 欧拉角变化角度 */
-} CMD_GimbalCmd_t;
-
-/* 射击控制命令 */
-typedef struct {
-  CMD_ShootMode_t mode;     /* 射击运行模式 */
-  CMD_FireMode_t fire_mode; /* 开火模式 */
-  bool fire;                /*开火*/
-  bool cover_open;          /* 弹舱盖开关 */
-  bool reverse_trig;        /* 拨弹电机状态 */
-} CMD_ShootCmd_t;
-
-/* 拨杆位置 */
-typedef enum {
-  CMD_SW_ERR = 0,
-  CMD_SW_UP = 1,
-  CMD_SW_MID = 3,
-  CMD_SW_DOWN = 2,
-} CMD_SwitchPos_t;
-
-/* 键盘按键值 */
-typedef enum {
-  CMD_KEY_W = 0,
-  CMD_KEY_S,
-  CMD_KEY_A,
-  CMD_KEY_D,
-  CMD_KEY_SHIFT,
-  CMD_KEY_CTRL,
-  CMD_KEY_Q,
-  CMD_KEY_E,
-  CMD_KEY_R,
-  CMD_KEY_F,
-  CMD_KEY_G,
-  CMD_KEY_Z,
-  CMD_KEY_X,
-  CMD_KEY_C,
-  CMD_KEY_V,
-  CMD_KEY_B,
-  CMD_L_CLICK,
-  CMD_R_CLICK,
-  CMD_KEY_NUM,
-} CMD_KeyValue_t;
-
-/* 行为值序列 */
-typedef enum {
-  CMD_BEHAVIOR_FORE = 0,       /* 向前 */
-  CMD_BEHAVIOR_BACK,           /* 向后 */
-  CMD_BEHAVIOR_LEFT,           /* 向左 */
-  CMD_BEHAVIOR_RIGHT,          /* 向右 */
-  CMD_BEHAVIOR_ACCELERATE,     /* 加速 */
-  CMD_BEHAVIOR_DECELEBRATE,    /* 减速 */
-  CMD_BEHAVIOR_FIRE,           /* 开火 */
-  CMD_BEHAVIOR_FIRE_MODE,      /* 切换开火模式 */
-  CMD_BEHAVIOR_BUFF,           /* 打符模式 */
-  CMD_BEHAVIOR_AUTOAIM,        /* 自瞄模式 */
-  CMD_BEHAVIOR_OPENCOVER,      /* 弹舱盖开关 */
-  CMD_BEHAVIOR_ROTOR,          /* 小陀螺模式 */
-  CMD_BEHAVIOR_REVTRIG,        /* 反转拨弹 */
-  CMD_BEHAVIOR_FOLLOWGIMBAL35, /* 跟随云台呈35度 */
-  CMD_BEHAVIOR_NUM,
-} CMD_Behavior_t;
-
-typedef enum {
-  CMD_ACTIVE_PRESSING, /* 按下时触发 */
-  CMD_ACTIVE_RASING,   /* 抬起时触发 */
-  CMD_ACTIVE_PRESSED,  /* 按住时触发 */
-} CMD_ActiveType_t;
-
-typedef struct {
-  CMD_ActiveType_t active;
-  CMD_KeyValue_t key;
-} CMD_KeyMapItem_t;
-
-/* 行为映射的对应按键数组 */
-typedef struct {
-  CMD_KeyMapItem_t key_map[CMD_BEHAVIOR_NUM];
-} CMD_KeyMap_Params_t;
-
-/* 位移灵敏度参数 */
-typedef struct {
-  float move_sense;      /* 移动灵敏度 */
-  float move_fast_sense; /* 加速灵敏度 */
-  float move_slow_sense; /* 减速灵敏度 */
-} CMD_Move_Params_t;
-
-typedef struct {
-  uint16_t width;
-  uint16_t height;
-} CMD_Screen_t;
-
-/* 命令参数 */
-typedef struct {
-  float sens_mouse;        /* 鼠标灵敏度 */
-  float sens_rc;           /* 遥控器摇杆灵敏度 */
-  CMD_KeyMap_Params_t map; /* 按键映射行为命令 */
-  CMD_Move_Params_t move;  /* 位移灵敏度参数 */
-  CMD_Screen_t screen;     /* 屏幕分辨率参数 */
-} CMD_Params_t;
-
-/* AI行为状态 */
-typedef enum {
-  AI_STATUS_STOP,      /* 停止状态 */
-  AI_STATUS_AUTOAIM,   /* 自瞄状态 */
-  AI_STATUS_HITSWITCH, /* 打符状态 */
-  AI_STATUS_AUTOMATIC  /* 自动状态 */
-} CMD_AI_Status_t;
-
-/* UI所用行为状态 */
-typedef enum {
-  CMD_UI_NOTHING,          /* 当前无状态 */
-  CMD_UI_AUTO_AIM_START,   /* 自瞄状态开启 */
-  CMD_UI_AUTO_AIM_STOP,    /* 自瞄状态关闭 */
-  CMD_UI_HIT_SWITCH_START, /* 打符状态开启 */
-  CMD_UI_HIT_SWITCH_STOP   /* 打符状态关闭 */
-} CMD_UI_t;
-
-/*裁判系统发送的命令*/
-typedef struct {
-  CMD_UI_t cmd[CMD_REFEREE_MAX_NUM]; /* 命令数组 */
-  uint8_t counter;                   /* 命令计数 */
-} CMD_RefereeCmd_t;
-
-typedef struct {
-  bool pc_ctrl;        /* 是否使用键鼠控制 */
-  bool host_overwrite; /* 是否Host控制 */
-  uint16_t key_last;   /* 上次按键键值 */
-
-  struct {
-    int16_t x;
-    int16_t y;
-    int16_t z;
-    bool l_click; /* 左键 */
-    bool r_click; /* 右键 */
-  } mouse_last;   /* 鼠标值 */
-
-  CMD_AI_Status_t ai_status; /* AI状态 */
-
-  const CMD_Params_t *param; /* 命令参数 */
-
-  CMD_ChassisCmd_t chassis; /* 底盘控制命令 */
-  CMD_GimbalCmd_t gimbal;   /* 云台控制命令 */
-  CMD_ShootCmd_t shoot;     /* 射击控制命令 */
-  CMD_RefereeCmd_t referee; /* 裁判系统发送命令 */
-} CMD_t;
-
-typedef struct {
-  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 */
-  float ch_r_y; /* 遥控器右侧摇杆纵轴值，右为正 */
-
-  float ch_res; /* 第五通道值 */
-
-  CMD_SwitchPos_t sw_r; /* 右侧拨杆位置 */
-  CMD_SwitchPos_t sw_l; /* 左侧拨杆位置 */
-
-  struct {
-    int16_t x;
-    int16_t y;
-    int16_t z;
-    bool l_click; /* 左键 */
-    bool r_click; /* 右键 */
-  } mouse;        /* 鼠标值 */
-
-  uint16_t key; /* 按键值 */
-
-  uint16_t res; /* 保留，未启用 */
-} CMD_RC_t;
-
-typedef struct {
-  AHRS_Eulr_t gimbal_delta; /* 欧拉角的变化量 */
-
-  struct {
-    float vx;         /* x轴移动速度 */
-    float vy;         /* y轴移动速度 */
-    float wz;         /* z轴转动速度 */
-  } chassis_move_vec; /* 底盘移动向量 */
-
-  bool fire; /* 开火状态 */
-} CMD_Host_t;
-
-/**
- * @brief 解析行为命令
- *
- * @param rc 遥控器数据
- * @param cmd 主结构体
- */
-int8_t CMD_Init(CMD_t *cmd, const CMD_Params_t *param);
-
-/**
- * @brief 检查是否启用上位机控制指令覆盖
- *
- * @param cmd 主结构体
- * @return true 启用
- * @return false 不启用
- */
-bool CMD_CheckHostOverwrite(CMD_t *cmd);
-
-/**
- * @brief 解析命令
- *
- * @param rc 遥控器数据
- * @param cmd 命令
- * @param dt_sec 两次解析的间隔
- * @return int8_t 0对应没有错误
- */
-int8_t CMD_ParseRc(CMD_RC_t *rc, CMD_t *cmd, float dt_sec);
-
-/**
- * @brief 解析上位机命令
- *
- * @param host host数据
- * @param cmd 命令
- * @param dt_sec 两次解析的间隔
- * @return int8_t 0对应没有错误
- */
-int8_t CMD_ParseHost(const CMD_Host_t *host, CMD_t *cmd, float dt_sec);
-
-/**
- * @brief 添加向Referee发送的命令
- *
- * @param ref 命令队列
- * @param cmd 要添加的命令
- * @return int8_t 0对应没有错误
- */
-int8_t CMD_RefereeAdd(CMD_RefereeCmd_t *ref, CMD_UI_t cmd);
-
-/* USER FUNCTION BEGIN */
-
-/* USER FUNCTION END */
-
-#ifdef __cplusplus
-}
-#endif

User/module/at9s_pro_cmd.c

@@ -43,25 +43,9 @@ int8_t COMP_AT9S_CMD_ParseRc(const DEVICE_AT9S_t *rc, COMP_AT9S_CMD_t *at9s_cmd)
 	if(fabs(at9s_cmd->ch_r_x)>=1.0f)at9s_cmd->ch_r_x= at9s_cmd->ch_r_x>0?1.0f:-1.0f;
 	if(fabs(at9s_cmd->ch_r_y)>=1.0f)at9s_cmd->ch_r_y= at9s_cmd->ch_r_y>0?1.0f:-1.0f;
 	
-	
+	if(rc->online == true ||rc->data.key_D == AT9S_CMD_SW_UP)at9s_cmd->stop = false;
-	at9s_cmd->chassis_ctrl_vec.x = at9s_cmd->ch_r_x;
+	else if(rc->online == false || rc->data.key_D == AT9S_CMD_SW_DOWN)at9s_cmd->stop = true;
-	at9s_cmd->chassis_ctrl_vec.y = at9s_cmd->ch_r_y;
+	else at9s_cmd->stop = true;
-	at9s_cmd->gimbal_yaw_ctrl_vec.w = at9s_cmd->ch_l_x;
-	at9s_cmd->gimbal_pit_ctrl_vec.w = at9s_cmd->ch_l_y;
-
-	if(rc->online == false ||rc->data.key_H == AT9S_CMD_SW_UP)at9s_cmd->mode = MODE_CMD_BREAKING_CONTROL;
-	else if(rc->data.key_E == AT9S_CMD_SW_DOWN)at9s_cmd->mode = MODE_CMD_ONLT_GIMBAL;
-	else if(rc->data.key_E == AT9S_CMD_SW_MID)at9s_cmd->mode = MODE_CMD_FOLLOW;
-	else if(rc->data.key_E == AT9S_CMD_SW_UP)at9s_cmd->mode = MODE_CMD_SPIN;
-  
-  	if(rc->data.key_C == AT9S_CMD_SW_DOWN)at9s_cmd->ai = true;
-	else at9s_cmd->ai = false;
-	
-	if(rc->data.key_G == AT9S_CMD_SW_DOWN) at9s_cmd->friction  = false;
-	else if(rc->data.key_G == AT9S_CMD_SW_MID||rc->data.key_G == AT9S_CMD_SW_UP) at9s_cmd->friction  = true;
-	
-	if(rc->data.key_G == AT9S_CMD_SW_UP)at9s_cmd->shoot = true;
-	else at9s_cmd->shoot = false;
 	
 	at9s_cmd->online = rc->online;
   return 0;

User/module/at9s_pro_cmd.h

@@ -19,32 +19,15 @@ typedef enum {
 typedef struct
 {
 	bool online;
+	bool stop;
 	
 	int8_t mode;
 	
-	bool ai;
-	
-	bool friction;
-	bool shoot;
-	
     float ch_l_x;   /* <20><>ҡ<EFBFBD><D2A1> X */
     float ch_l_y;   /* <20><>ҡ<EFBFBD><D2A1> Y<><59><EFBFBD><EFBFBD><EFBFBD>ţ<EFBFBD> */
     float ch_r_x;   /* <20><>ҡ<EFBFBD><D2A1> X */
     float ch_r_y;   /* <20><>ҡ<EFBFBD><D2A1> Y */
 
-	struct{
-	    float x;
-		float y;
-	}chassis_ctrl_vec;
-	
-	struct{
-		float w;
-	}gimbal_yaw_ctrl_vec;
-	
-  struct{
-		float w;
-	}gimbal_pit_ctrl_vec;
-
 } COMP_AT9S_CMD_t;
 
 int8_t COMP_AT9S_CMD_ParseRc(const DEVICE_AT9S_t *rc, COMP_AT9S_CMD_t *at9s_cmd);

User/module/config.c

@@ -15,7 +15,110 @@
 
 // 机器人参数配置
 Config_RobotParam_t robot_config = {
+    .quad_params = {
+        .ctrl_freq = {
+            .pos_alt=100,
+            .pos_vel=100,
+            .att_agl=250,
+            .att_omg=1000
+        },
 
+        .baseThrottle=0.3,
+
+        .pid = {
+            .pit_agl = {
+                .k = 1.0f,
+                .p = 0.8f,
+                .i = 0.05f,
+                .d = 0.0f,
+                .i_limit = 0.3f,
+                .out_limit = 1.0f,
+                .d_cutoff_freq = 0.0f,
+                .range = 0.0f
+            },
+            .rol_agl = {
+                .k = 1.0f,
+                .p = 0.8f,
+                .i = 0.05f,
+                .d = 0.0f,
+                .i_limit = 0.3f,
+                .out_limit = 1.0f,
+                .d_cutoff_freq = 0.0f,
+                .range = 0.0f
+            },
+            .yaw_agl = {
+                .k = 1.0f,
+                .p = 0.8f,
+                .i = 0.05f,
+                .d = 0.0f,
+                .i_limit = 0.3f,
+                .out_limit = 1.0f,
+                .d_cutoff_freq = 0.0f,
+                .range = 0.0f
+            },
+            .pit_omg = {
+                .k = 1.0f,
+                .p = 0.25f,
+                .i = 0.05f,
+                .d = 0.01f,
+                .i_limit = 0.05f,
+                .out_limit = 0.2f,
+                .d_cutoff_freq = 30.0f,
+                .range = 0.0f
+            },
+            .rol_omg = {
+                .k = 1.0f,
+                .p = 0.25f,
+                .i = 0.05f,
+                .d = 0.01f,
+                .i_limit = 0.05f,
+                .out_limit = 0.2f,
+                .d_cutoff_freq = 30.0f,
+                .range = 0.0f
+            },
+            .yaw_omg = {
+                .k = 1.0f,
+                .p = 0.25f,
+                .i = 0.05f,
+                .d = 0.01f,
+                .i_limit = 0.05f,
+                .out_limit = 0.2f,
+                .d_cutoff_freq = 30.0f,
+                .range = 0.0f
+            },
+			.alt_pos = {
+                .k = 0.25f,
+                .p = 1.0f,          
+                .i = 0.05f,          
+                .d = 0.00f,          
+                .i_limit = 0.5f,
+                .out_limit = 3.0f,   
+                .d_cutoff_freq = 0.0f,
+                .range = 0.0f
+            },
+			.alt_vel = {
+                .k = 0.08f,
+                .p = 2.2f, 
+                .i = 0.05f,          
+                .d = 0.01f,          
+                .i_limit = 0.05f,
+                .out_limit = 0.2f,   
+                .d_cutoff_freq = -1.0f,
+                .range = 0.0f
+            },
+			
+        },
+        .expect_status_limit = {
+            .yaw_omg = 1.0f,
+            .rol_agl = 0.1745329f,
+            .pit_agl = 0.1745329f
+        },
+        .motor_limit = {
+            .min_output = 0.1f,
+            .max_output = 0.9f
+        },
+
+    }
 
 };
 

User/module/config.h

@@ -9,9 +9,9 @@ extern "C" {
 #endif
 
 #include <stdint.h>
-
+#include "module/xm_quadctrl.h"
 typedef struct {
-    
+    Quad_Params_t quad_params;
 } Config_RobotParam_t;
 
 /* Exported functions prototypes -------------------------------------------- */

User/module/xm_quadctrl.c

@@ -1,6 +1,28 @@
-//#include "xm_quadctrl.h"
+/* Includes ----------------------------------------------------------------- */
-//#include "component/pid.h"
+#include "xm_quadctrl.h"
-//#include "bsp/pwm.h"
+#include "component/pid.h"
+#include "bsp/pwm.h"
+#include "bsp/time.h"
+#include "module/HeightEstimation.h"
+#include "component/filter.h"
+// 电机布局:
+//   [0] 前右 (CW)
+//   [1] 前左 (CCW)
+//   [2] 后左 (CW)
+//   [3] 后右 (CCW)
+
+
+
+//低通滤波初始化和计算
+
+
+
+
+
+
+
+
+
 
 
 //// PID控制器实例
@@ -9,7 +31,6 @@
 //KPID_t yaw_rate_pid;                     // 偏航角速度环PID
 //KPID_t altitude_pos_pid;                     // 高度环PID
 //KPID_t altitude_vel_pid;                     // 高度环PID
-
 //// PID参数配置
 //KPID_Params_t angle_pid_params = {
 //    .k = 1.0f,          // 控制器增益
@@ -21,7 +42,6 @@
 //    .d_cutoff_freq = 0.0f, // 截止频率(不使用)
 //    .range = 0.0f        // 误差范围(不使用)
 //};
-
 //KPID_Params_t rate_pid_params = {
 //    .k = 1.0f,
 //    .p = 0.25f,          // 比例增益
@@ -32,7 +52,6 @@
 //    .d_cutoff_freq = 30.0f, // 微分项低通截止频率(Hz)
 //    .range = 0.0f
 //};
-
 //KPID_Params_t alt_pos_pid_params = {
 //    .k = 0.25f,
 //    .p = 1.0f,          // 比例增益
@@ -43,7 +62,6 @@
 //    .d_cutoff_freq = 0.0f, // 截止频率(Hz)
 //    .range = 0.0f
 //};
-
 //KPID_Params_t alt_vel_pid_params = {
 //    .k = 0.08f,
 //    .p = 2.2f,          // 比例增益
@@ -55,225 +73,296 @@
 //    .range = 0.0f
 //};
 
-//// 初始化卡尔曼滤波器
+/* Private typedef ---------------------------------------------------------- */
-//void Kalman_Init(KalmanFilter* kf) {
+/* Private define ----------------------------------------------------------- */
-//    kf->Q_angle = 0.001f;
-//    kf->Q_bias = 0.003f;
-//    kf->R_measure = 0.03f;
-//    kf->angle = 0.0f;
-//    kf->bias = 0.0f;
-//    kf->P[0][0] = 0.0f;
-//    kf->P[0][1] = 0.0f;
-//    kf->P[1][0] = 0.0f;
-//    kf->P[1][1] = 0.0f;
-//}
 
-//// 卡尔曼滤波器更新
+/* Private macro ------------------------------------------------------------ */
-//float Kalman_Update(KalmanFilter* kf, float newAngle, float newRate, float dt) {
+/* Private variables -------------------------------------------------------- */
-//    // 预测步骤
+/* Private function  -------------------------------------------------------- */
-//    kf->angle += dt * (newRate - kf->bias);
+static inline void Quad_Math_LimitFloat(float* value, float min, float max) {
-//    kf->P[0][0] += dt * (dt * kf->P[1][1] - kf->P[0][1] - kf->P[1][0] + kf->Q_angle);
+    if (*value < min) {
-//    kf->P[0][1] -= dt * kf->P[1][1];
+        *value = min;
-//    kf->P[1][0] -= dt * kf->P[1][1];
+    } else if (*value > max) {
-//    kf->P[1][1] += kf->Q_bias * dt;
+        *value = max;
+    }
+}
 
-//    // 更新步骤
+static inline void Quad_Math_ScaleSumTo1(float *a, float *b, float *c, float *d) {
-//    float y = newAngle - kf->angle;
+    float sum = *a + *b + *c + *d;
-//    float S = kf->P[0][0] + kf->R_measure;
+    if (sum > 1.0f) {
-//    float K[2];
+        float scale = 1.0f / sum;
-//    K[0] = kf->P[0][0] / S;
+        *a *= scale;
-//    K[1] = kf->P[1][0] / S;
+        *b *= scale;
+        *c *= scale;
+        *d *= scale;
+    }
+}
 
-//    // 更新状态和协方差
+// 初始化卡尔曼滤波器
-//    kf->angle += K[0] * y;
+void Kalman_Init(KalmanFilter* kf) {
-//    kf->bias += K[1] * y;
+    kf->Q_angle = 0.001f;
-//    float P00_temp = kf->P[0][0];
+    kf->Q_bias = 0.003f;
-//    float P01_temp = kf->P[0][1];
+    kf->R_measure = 0.03f;
-//    kf->P[0][0] -= K[0] * P00_temp;
+    kf->angle = 0.0f;
-//    kf->P[0][1] -= K[0] * P01_temp;
+    kf->bias = 0.0f;
-//    kf->P[1][0] -= K[1] * P00_temp;
+    kf->P[0][0] = 0.0f;
-//    kf->P[1][1] -= K[1] * P01_temp;
+    kf->P[0][1] = 0.0f;
+    kf->P[1][0] = 0.0f;
+    kf->P[1][1] = 0.0f;
+}
+// 卡尔曼滤波器更新
+float Kalman_Update(KalmanFilter* kf, float newAngle, float newRate, float dt) {
+    // 预测步骤
+    kf->angle += dt * (newRate - kf->bias);
+    kf->P[0][0] += dt * (dt * kf->P[1][1] - kf->P[0][1] - kf->P[1][0] + kf->Q_angle);
+    kf->P[0][1] -= dt * kf->P[1][1];
+    kf->P[1][0] -= dt * kf->P[1][1];
+    kf->P[1][1] += kf->Q_bias * dt;
+    // 更新步骤
+    float y = newAngle - kf->angle;
+    float S = kf->P[0][0] + kf->R_measure;
+    float K[2];
+    K[0] = kf->P[0][0] / S;
+    K[1] = kf->P[1][0] / S;
+    // 更新状态和协方差
+    kf->angle += K[0] * y;
+    kf->bias += K[1] * y;
+    float P00_temp = kf->P[0][0];
+    float P01_temp = kf->P[0][1];
+    kf->P[0][0] -= K[0] * P00_temp;
+    kf->P[0][1] -= K[0] * P01_temp;
+    kf->P[1][0] -= K[1] * P00_temp;
+    kf->P[1][1] -= K[1] * P01_temp;
+    return kf->angle;
+}
 
-//    return kf->angle;
-//}
 
-//// 全局变量
-//KalmanFilter roll_kf, pitch_kf;
 
-//// 控制器初始化函数
-//void FlightController_Init(float sample_freq) {
-//    // 初始化卡尔曼滤波器
-//    Kalman_Init(&roll_kf);
-//    Kalman_Init(&pitch_kf);
-//    
-//    
-//    // 初始化PID控制器
-//    PID_Init(&roll_angle_pid, KPID_MODE_NO_D, sample_freq, &angle_pid_params);
-//    PID_Init(&pitch_angle_pid, KPID_MODE_NO_D, sample_freq, &angle_pid_params);
-//    PID_Init(&roll_rate_pid, KPID_MODE_CALC_D, sample_freq, &rate_pid_params);
-//    PID_Init(&pitch_rate_pid, KPID_MODE_CALC_D, sample_freq, &rate_pid_params);
-//    PID_Init(&yaw_rate_pid, KPID_MODE_SET_D, sample_freq, &rate_pid_params);
-//    PID_Init(&altitude_pos_pid, KPID_MODE_NO_D, sample_freq, &alt_pos_pid_params);
-//	PID_Init(&altitude_vel_pid, KPID_MODE_CALC_D, sample_freq, &alt_vel_pid_params);
-//    
-//    // 重置所有PID状态
-//    PID_Reset(&roll_angle_pid);
-//    PID_Reset(&pitch_angle_pid);
-//    PID_Reset(&roll_rate_pid);
-//    PID_Reset(&pitch_rate_pid);
-//    PID_Reset(&yaw_rate_pid);
-//    PID_Reset(&altitude_pos_pid);
-//	PID_Reset(&altitude_vel_pid);
-//}
 
-//float target_yaw_rate;
+int8_t Quad_UpdateStatus(Quad_t *q) {
-//float expected_speed;
+    // 这里添加传感器数据更新逻辑
-//float expect_thrust;
-//float target_roll_rate;
-//float target_pitch_rate;
-//float base_throttle = 0.4f;    // 基础油门
-//float target_altitude = 0.0f;  // 目标高度1米
-//float roll_angle;
-//float pitch_angle;
-//// 主控制循环（在固定时间间隔调用	
-//void FlightController_Update(SensorData sensors, Control_t* output, float dt, PS2_TypeDef rc) {
-//    // 1. 姿态估计（使用卡尔曼滤波）
-//     roll_angle = Kalman_Update(&roll_kf, 
-//                                    atan2f(sensors.accel[1], sensors.accel[2]), 
-//                                    sensors.gyro[0], 
-//                                    dt)+0.0302813556;
-//    
-//     pitch_angle = Kalman_Update(&pitch_kf, 
-//                                     atan2f(-sensors.accel[0], sensors.accel[2]), 
-//                                     sensors.gyro[1], 
-//                                     dt)+0.0181136467;
-//    
-//    // 2. 高度估计（融合加速度计和气压计）
-//    //AltKalman_Update(&alt_kf, sensors.accel[2], sensors.baro_alt, dt);
-//    
-//    // 3. 遥控器输入
-////    float target_yaw_rate, target_throttle;
-//	
-//    target_altitude += (rc.Rocker_LY-0.5)*0.03;
-//	if(target_altitude<=-13){target_altitude=-13;}else if(target_altitude>=11){target_altitude=11;}
-//	
-////	expected_speed = 
-//	
-//	output->Controltarget.pitch = (rc.Rocker_RY-0.5)*0.349065f;
-//	output->Controltarget.roll = (rc.Rocker_RX-0.5)*0.1745329f;
-//	target_yaw_rate = (rc.Rocker_LX-0.5)*0.349065f;
-//	
-//    // 4. 高度控制（单环PID）
-//	expected_speed = PID_Calc(&altitude_pos_pid, target_altitude, -sensors.baro_alt, 0, dt);
-//    expect_thrust = PID_Calc(&altitude_vel_pid, expected_speed, sensors.speed_z, 0, dt);
-//    if(expect_thrust<-1.0f){expect_thrust=-1.0f;}
-//	output->ControlOutput.throttle = base_throttle+expect_thrust;
-//    // 5. 双环姿态控制
-//    // 外环：角度控制（输出目标角速度）
-////    float target_roll_rate = PID_Calc(&roll_angle_pid, output->Controltarget.roll, roll_angle, 0, dt);
-////    float target_pitch_rate = PID_Calc(&pitch_angle_pid, output->Controltarget.pitch, pitch_angle, 0, dt);
-//	target_roll_rate = PID_Calc(&roll_angle_pid, output->Controltarget.roll, roll_angle, 0, dt);
-//    target_pitch_rate = PID_Calc(&pitch_angle_pid, output->Controltarget.pitch, pitch_angle, 0, dt);
-//    
-//    // 内环：角速度控制（输出控制量）
-//    output->ControlOutput.roll = 2*PID_Calc(&roll_rate_pid, target_roll_rate, sensors.gyro[0], 0, dt);
-//    output->ControlOutput.pitch = 2*PID_Calc(&pitch_rate_pid, target_pitch_rate, sensors.gyro[1], 0, dt);
-//    output->ControlOutput.yaw = 1.5*PID_Calc(&yaw_rate_pid, target_yaw_rate, sensors.gyro[2], 0, dt);
-//    
-//    // 6. 输出限幅保护
-//    output->ControlOutput.throttle = fmaxf(0.0f, fminf(1.0f, output->ControlOutput.throttle));
-//    output->ControlOutput.roll = fmaxf(-1.0f, fminf(1.0f, output->ControlOutput.roll));
-//    output->ControlOutput.pitch = fmaxf(-1.0f, fminf(1.0f, output->ControlOutput.pitch));
-//    output->ControlOutput.yaw = fmaxf(-1.0f, fminf(1.0f, output->ControlOutput.yaw));
-//	
-//}
 
-//// 重置所有控制器（在模式切换或紧急情况下调用）
+    // 1. 姿态估计（使用卡尔曼滤波）
-//void FlightController_Reset() {
+    q->current_status.eulr.rol = Kalman_Update(&q->kalman.rol_kf, 
-//    PID_Reset(&roll_angle_pid);
+                                    atan2f(q->current_status.accl.y, q->current_status.accl.z), 
-//    PID_Reset(&pitch_angle_pid);
+                                    q->current_status.gyro.x, 
-//    PID_Reset(&roll_rate_pid);
+                                    q->dt);
-//    PID_Reset(&pitch_rate_pid);
-//    PID_Reset(&yaw_rate_pid);
-//    PID_Reset(&altitude_pos_pid);
-//    PID_Reset(&altitude_vel_pid);
-//    // 重置卡尔曼滤波器
-//    Kalman_Init(&roll_kf);
-//    Kalman_Init(&pitch_kf);
-//    //AltKalman_Init(&alt_kf);
-//}
     
-///*********************************************************** */
+    q->current_status.eulr.pit = Kalman_Update(&q->kalman.pit_kf, 
-///*                           混控器                           */
+                                    atan2f(-q->current_status.accl.x, q->current_status.accl.z), 
-///*********************************************************** */
+                                    q->current_status.gyro.y, 
+                                    q->dt);
+    // 2. 高度估计（融合加速度计和气压计）
+    HeightEstimation_GetHeight(&q->current_status.alt, &q->current_status.vel_z, q->current_status.accl.z);
 
-//// 全局混控器实例
-////static Mixer mixer;
-//Mixer mixer;
-//// 初始化混控器
-//void MotorMixer_Init() {
-//    // 电机1配置 (前右)
-//    mixer.motors[0].min_output = 0.1f;  
-//    mixer.motors[0].max_output = 1.0f;  
-//    
-//    // 电机2配置 (前左)
-//    mixer.motors[1].min_output = 0.1f;
-//    mixer.motors[1].max_output = 1.0f;
-//    
-//    // 电机3配置 (后左)
-//    mixer.motors[2].min_output = 0.1f;
-//    mixer.motors[2].max_output = 1.0f;
-//    
-//    // 电机4配置 (后右)
-//    mixer.motors[3].min_output = 0.1f;
-//    mixer.motors[3].max_output = 1.0f;
-//    
-//    // 初始输出为0
-//    for (int i = 0; i < 4; i++) {
-//        mixer.motor_output[i] = 0.0f;
-//    }
-//}
-//float mix[4];
-//// 应用电机输出
-//void Apply_Motor_Outputs(Control_t ctrl) {
-//    // 1. 基本混控公式 (X型四轴布局)
-//    // 电机布局:
-//    //   [0] 前右 (CW)
-//    //   [1] 前左 (CCW)
-//    //   [2] 后左 (CW)
-//    //   [3] 后右 (CCW)
-//    
-//    // 混控公式:
-////    float mix[4];
-//    mix[0] = ctrl.ControlOutput.throttle + ctrl.ControlOutput.roll - ctrl.ControlOutput.pitch + ctrl.ControlOutput.yaw;  // 前右
-//    mix[1] = ctrl.ControlOutput.throttle - ctrl.ControlOutput.roll - ctrl.ControlOutput.pitch - ctrl.ControlOutput.yaw;  // 前左
-//    mix[2] = ctrl.ControlOutput.throttle - ctrl.ControlOutput.roll + ctrl.ControlOutput.pitch + ctrl.ControlOutput.yaw;  // 后左
-//    mix[3] = ctrl.ControlOutput.throttle + ctrl.ControlOutput.roll + ctrl.ControlOutput.pitch - ctrl.ControlOutput.yaw;  // 后右
-//    
-//    // 2. 输出限幅和约束
-//    for (int i = 0; i < 4; i++) {
-//        // 应用电机特定限幅
-//        if (mix[i] < mixer.motors[i].min_output) {
-//            mix[i] = mixer.motors[i].min_output;
-//        } else if (mix[i] > mixer.motors[i].max_output) {
-//            mix[i] = mixer.motors[i].max_output;
-//        }
-//        
-//        // 更新当前输出值
-//        mixer.motor_output[i] = 0.275+0.8*mix[i]*0.21; // 转换为PWM计数值
-//    }
-//    
-//    // 3. 输出到PWM
-//    BSP_PWM_Set(BSP_PWM_MOTOR_OUT1, mixer.motor_output[0]);
-//    BSP_PWM_Set(BSP_PWM_MOTOR_OUT2, mixer.motor_output[1]); 
-//    BSP_PWM_Set(BSP_PWM_MOTOR_OUT3, mixer.motor_output[2]);
-//    BSP_PWM_Set(BSP_PWM_MOTOR_OUT4, mixer.motor_output[3]);
-//}
 
-//// 安全停止所有电机
+    return 0; 
-//void MotorMixer_OutStop() {
+}
-//	BSP_PWM_Stop(BSP_PWM_MOTOR_OUT1);
+
-//	BSP_PWM_Stop(BSP_PWM_MOTOR_OUT2);
+int8_t Quad_SetTargetStates(Quad_t *q, Quad_CMD_t cmd) {
-//	BSP_PWM_Stop(BSP_PWM_MOTOR_OUT3);
+    // 这里添加目标状态设置逻辑
-//	BSP_PWM_Stop(BSP_PWM_MOTOR_OUT4);
+
-//}
+    q->expect_status.vel     = cmd.throttle;
+    q->expect_status.yaw_omg = cmd.yaw;
+    q->expect_status.rol_agl = cmd.rol+q->current_status.eulr.rol;
+    q->expect_status.pit_agl = cmd.pit+q->current_status.eulr.pit;
+
+    Quad_Math_LimitFloat(&q->expect_status.yaw_omg,
+                        -q->param->expect_status_limit.yaw_omg, 
+                        q->param->expect_status_limit.yaw_omg);
+    Quad_Math_LimitFloat(&q->expect_status.rol_agl,
+                        q->expect_status.rol_agl-q->param->expect_status_limit.rol_agl, 
+                        q->expect_status.rol_agl+q->param->expect_status_limit.rol_agl);
+    Quad_Math_LimitFloat(&q->expect_status.pit_agl,
+                        q->expect_status.pit_agl-q->param->expect_status_limit.pit_agl, 
+                        q->expect_status.pit_agl+q->param->expect_status_limit.pit_agl);
+    return 0; 
+}
+
+//位置控制
+int8_t Quad_PosCtrl(Quad_t *q,float dt) {
+
+//    q->expect_status.vel=PID_Calc(&q->pid.alt_pos, 
+//                                    q->expect_status.alt,   
+//                                    q->current_status.alt, 
+//                                    0, 
+//                                    dt);
+    q->expect_status.thrust=PID_Calc(&q->pid.alt_vel, 
+                                    q->expect_status.vel,              
+                                    q->current_status.vel_z, 
+                                    0, 
+                                    dt);
+    Quad_Math_LimitFloat(&q->expect_status.thrust, -1.0f, 1.0f);
+    q->output.throttle=q->param->baseThrottle
+                        +q->expect_status.thrust;
+    return 0; 
+}
+//姿态控制
+int8_t Quad_AttCtrl_agl(Quad_t *q, float dt) {
+    //角度控制
+	q->expect_status.rol_omg = PID_Calc(&q->pid.rol_agl, 
+                                        q->expect_status.rol_agl, 
+                                        q->current_status.eulr.rol, 
+                                        0, 
+                                        q->dt);
+    q->expect_status.pit_omg = PID_Calc(&q->pid.pit_agl, 
+                                        q->expect_status.pit_agl, 
+                                        q->current_status.eulr.pit, 
+                                        0, 
+                                        q->dt);
+	return 0;
+}
+
+int8_t Quad_AttCtrl_omg(Quad_t *q, float dt) {
+    //角速度控制
+    q->output.pit = PID_Calc(&q->pid.pit_omg, 
+                            q->expect_status.pit_omg, 
+                            q->current_status.gyro.y, 
+                            0, 
+                            q->dt);
+    q->output.yaw = PID_Calc(&q->pid.yaw_omg, 
+                            q->expect_status.yaw_omg, 
+                            q->current_status.gyro.z, 
+                            0, 
+                            q->dt);
+    q->output.rol = PID_Calc(&q->pid.rol_omg,
+                            q->expect_status.rol_omg, 
+                            q->current_status.gyro.x,
+                            0, 
+                            q->dt);
+    return 0; 
+}
+
+int8_t Quad_Mixer(Quad_t *q) {
+
+    Quad_Math_ScaleSumTo1(&q->output.throttle, &q->output.rol, &q->output.pit, &q->output.yaw);
+
+    q->output.mix[0] = q->output.throttle + q->output.rol - q->output.pit + q->output.yaw;// 前右
+    q->output.mix[1] = q->output.throttle - q->output.rol - q->output.pit - q->output.yaw;// 前左
+    q->output.mix[2] = q->output.throttle - q->output.rol + q->output.pit + q->output.yaw;// 后左
+    q->output.mix[3] = q->output.throttle + q->output.rol + q->output.pit - q->output.yaw;// 后右
+    
+    for(int i=0;i<4;i++){
+    Quad_Math_LimitFloat(&q->output.mix[i], q->param->motor_limit.min_output, q->param->motor_limit.max_output);
+    q->output.motor[i] = 0.275+0.8*q->output.mix[i]*0.21;
+    }
+
+    return 0; 
+}
+
+int8_t Quad_OutPut(Quad_Output_t *output){
+
+    if(output == NULL){
+        return -1;
+    }
+    BSP_PWM_SetComp(BSP_PWM_MOTOR_OUT1, output->motor[0]);
+    BSP_PWM_SetComp(BSP_PWM_MOTOR_OUT2, output->motor[1]); 
+    BSP_PWM_SetComp(BSP_PWM_MOTOR_OUT3, output->motor[2]);
+    BSP_PWM_SetComp(BSP_PWM_MOTOR_OUT4, output->motor[3]);
+	return 0;
+}
+
+int8_t Quad_ResetStatus(Quad_CurrentStatus_t *currentStatus) {
+
+    return 0; // 返回0表示成功
+}
+
+int8_t Quad_ResetOutput(Quad_Output_t *output) {
+
+    for (int i = 0; i < 4; i++) {
+        output->motor[i] = 0.0f;
+    }
+    return 0; // 返回0表示成功
+}
+/* Exported functions ------------------------------------------------------- */
+
+int8_t Quad_Init(Quad_t *q, Quad_Params_t *param, float freq) {
+    
+    if(param == NULL) {
+        return -1; // 参数错误
+    }
+    q->param = param;
+    // 初始化卡尔曼滤波器
+    Kalman_Init(&q->kalman.rol_kf);
+    Kalman_Init(&q->kalman.pit_kf);
+    
+    uint16_t pos_alt=param->ctrl_freq.pos_alt;
+    uint16_t pos_vel=param->ctrl_freq.pos_vel;
+    uint16_t att_agl=param->ctrl_freq.att_agl;
+    uint16_t att_omg=param->ctrl_freq.att_omg;
+
+    LowPassFilter2p_Init(&q->filter.accl_x, freq, 30.0f);
+    LowPassFilter2p_Init(&q->filter.accl_y, freq, 30.0f);
+    LowPassFilter2p_Init(&q->filter.accl_z, freq, 30.0f);
+    LowPassFilter2p_Init(&q->filter.gyro_x, freq, 80.0f);
+    LowPassFilter2p_Init(&q->filter.gyro_y, freq, 80.0f);
+    LowPassFilter2p_Init(&q->filter.gyro_z, freq, 80.0f);
+    LowPassFilter2p_Init(&q->filter.eulr_yaw, freq, 20.0f);
+    LowPassFilter2p_Init(&q->filter.eulr_pit, freq, 20.0f);
+    LowPassFilter2p_Init(&q->filter.eulr_rol, freq, 20.0f);
+    LowPassFilter2p_Init(&q->filter.alt, freq, 10.0f);
+    LowPassFilter2p_Init(&q->filter.vel_z, freq, 15.0f);
+
+    PID_Init(&q->pid.yaw_agl, KPID_MODE_CALC_D, att_agl, &param->pid.yaw_agl);
+    PID_Init(&q->pid.pit_agl, KPID_MODE_CALC_D, att_agl, &param->pid.pit_agl);
+    PID_Init(&q->pid.rol_agl, KPID_MODE_CALC_D, att_agl, &param->pid.rol_agl);
+    PID_Init(&q->pid.yaw_omg, KPID_MODE_CALC_D, att_omg, &param->pid.yaw_omg);
+    PID_Init(&q->pid.pit_omg, KPID_MODE_CALC_D, att_omg, &param->pid.pit_omg);
+    PID_Init(&q->pid.rol_omg, KPID_MODE_CALC_D, att_omg, &param->pid.rol_omg);
+    PID_Init(&q->pid.alt_pos, KPID_MODE_CALC_D, pos_alt, &param->pid.alt_pos);
+	PID_Init(&q->pid.alt_vel, KPID_MODE_CALC_D, pos_vel, &param->pid.alt_vel);
+
+    q->expect_status.alt = q->current_status.alt;
+    q->expect_status.pit_agl = q->current_status.eulr.pit;
+    q->expect_status.rol_agl = q->current_status.eulr.rol;
+    q->expect_status.yaw_agl = q->current_status.eulr.yaw;
+
+    BSP_PWM_Start(BSP_PWM_MOTOR_OUT1);
+    BSP_PWM_Start(BSP_PWM_MOTOR_OUT2);
+    BSP_PWM_Start(BSP_PWM_MOTOR_OUT3);
+    BSP_PWM_Start(BSP_PWM_MOTOR_OUT4);
+
+
+    return 0; 
+}
+
+int8_t Quad_Ctrl(Quad_t *q, Quad_CMD_t cmd) {
+
+    if(q == NULL) {
+        return -1; // 参数错误
+    }
+    q->now =BSP_TIME_Get_us() / 1000000.0f;
+    q->dt  =(BSP_TIME_Get_us() - q->last) / 1000000.0f;
+    q->last=BSP_TIME_Get_us();	 
+
+    Quad_UpdateStatus(q);
+    Quad_SetTargetStates(q, cmd);
+
+    static uint8_t cnt_1ms = 0;
+    cnt_1ms = (cnt_1ms + 1) % 10;       
+
+    /* 位置环 100 Hz */
+    if (cnt_1ms == 0) {
+        Quad_PosCtrl(q,10*q->dt);
+    }
+
+    /* 角度环 250 Hz */
+    if (cnt_1ms % 4 == 0) {
+        Quad_AttCtrl_agl(q,4*q->dt);
+    }
+
+    /* 角速度环 1000 Hz */
+    Quad_AttCtrl_omg(q,q->dt);
+
+    /* 混控 & 输出（1000 Hz） */
+    Quad_Mixer(q);
+    Quad_OutPut(&q->output);
+    return 0; 
+}
+
+void Quad_stop() {
+	BSP_PWM_Stop(BSP_PWM_MOTOR_OUT1);
+	BSP_PWM_Stop(BSP_PWM_MOTOR_OUT2);
+	BSP_PWM_Stop(BSP_PWM_MOTOR_OUT3);
+	BSP_PWM_Stop(BSP_PWM_MOTOR_OUT4);
+}

User/module/xm_quadctrl.h

@@ -4,65 +4,159 @@
 extern "C" {
 #endif
 #include "device/at9s_pro.h"
+#include "component/pid.h"
+// 卡尔曼滤波器结构体
+typedef struct {
+    float Q_angle;     // 过程噪声协方差（角度）
+    float Q_bias;      // 过程噪声协方差（陀螺仪偏置）
+    float R_measure;   // 测量噪声协方差
+    float angle;       // 估计角度
+    float bias;        // 估计陀螺仪偏置
+    float P[2][2];     // 误差协方差矩阵
+} KalmanFilter;
+typedef struct{
+    float x;
+    float y;
+    float z;
+}Quad_Vectory3f_t;
 
-//// 传感器数据结构
+typedef struct{
-//typedef struct {
+    float yaw;
-//    float accel[3];    // m/s²
+    float pit;
-//    float gyro[3];     // rad/s
+    float rol;
-//    float baro_alt;    // 气压计高度 (m)
+}Quad_EulrVectory3f_t;
-//	float speed_z;		//z轴速度
-//} SensorData;
 
-//// 卡尔曼滤波器结构体
+typedef struct {
-//typedef struct {
+    uint16_t pos_alt;
-//    float Q_angle;     // 过程噪声协方差（角度）
+    uint16_t pos_vel;
-//    float Q_bias;      // 过程噪声协方差（陀螺仪偏置）
+    uint16_t att_agl;
-//    float R_measure;   // 测量噪声协方差
+    uint16_t att_omg;
-//    float angle;       // 估计角度
+}Quad_CtrlFreqParams_t;
-//    float bias;        // 估计陀螺仪偏置
-//    float P[2][2];     // 误差协方差矩阵
-//} KalmanFilter;
 
-//// 控制输出结构体
+typedef struct {
-//typedef struct {
+    LowPassFilter2p_t accl_x;
-//			
+    LowPassFilter2p_t accl_y;
-//	struct {
+    LowPassFilter2p_t accl_z;
-//		float throttle;  // 总油门 [0-1]
+    LowPassFilter2p_t gyro_x;
-//		float roll;      // 滚转控制 [-1,1]
+    LowPassFilter2p_t gyro_y;
-//		float pitch;     // 俯仰控制 [-1,1]
+    LowPassFilter2p_t gyro_z;
-//		float yaw;       // 偏航控制 [-1,1]
+    LowPassFilter2p_t eulr_yaw;
-//	} ControlOutput;
+    LowPassFilter2p_t eulr_pit;
-//			
+    LowPassFilter2p_t eulr_rol;
-//	struct {
+    LowPassFilter2p_t alt;
-//		float throttle;  // 总油门 [0-1]
+    LowPassFilter2p_t vel_z;
-//		float roll;      // 滚转控制 [-1,1]
+}Quad_LowPassFilter2p_t;
-//		float pitch;     // 俯仰控制 [-1,1]
-//		float yaw;       // 偏航控制 [-1,1]
-//	} Controltarget;
-//} Control_t;
 
+typedef struct {
+    KPID_Params_t pit_agl;
+    KPID_Params_t rol_agl;
+    KPID_Params_t yaw_agl;
+    KPID_Params_t pit_omg;
+    KPID_Params_t rol_omg;
+    KPID_Params_t yaw_omg;
+    KPID_Params_t alt_pos;
+    KPID_Params_t alt_vel;
+}Quad_PIDParams_t;
 
-//// 电机配置结构体
+typedef struct {
-//typedef struct {
+    KPID_t rol_omg, rol_agl;        // rol轴PID 
-//    float min_output;          // 最小输出值 (0.0-1.0)
+    KPID_t pit_omg, pit_agl;        // rol轴PID 
-//    float max_output;          // 最大输出值 (0.0-1.0)
+    KPID_t yaw_omg, yaw_agl;        // rol轴PID
-//} MotorConfig;
+    KPID_t alt_pos, alt_vel;        // 高度环PID
+}Quad_PID_t;
 
-//// 混控器配置
+typedef struct {
-//typedef struct {
+    KalmanFilter rol_kf, pit_kf;
-//    MotorConfig motors[4];     // 四个电机的配置
+}Quad_Kalman_t;
-//    float motor_output[4];     // 当前电机输出值 (0.0-1.0)
-//} Mixer;
 
+// 电机配置结构体
+typedef struct {
+    float min_output;          // 最小输出值 (0.0-1.0)
+    float max_output;          // 最大输出值 (0.0-1.0)
+}Quad_MotorConfig_t;
+typedef struct {
+	bool online;
+	bool stop;
 	
+    float throttle;
+    float yaw;
+    float rol;
+    float pit;
 	
+}Quad_CMD_t;
 
+typedef struct{
+    Quad_Vectory3f_t accl;    // m/s²
+    Quad_Vectory3f_t gyro;
+    Quad_EulrVectory3f_t eulr;
+    float alt;           // 气压计加速度计融合后相对高度 (m)
+	float vel_z;	        //z轴速度
+}Quad_CurrentStatus_t;
 
-//void FlightController_Init(float sample_freq);
+typedef struct {
-//void FlightController_Update(SensorData sensors, Control_t* output, float dt, rc);
+    float yaw_agl;
-//void MotorMixer_Init();
+    float rol_agl;
-//void Apply_Motor_Outputs(Control_t ctrl);
+    float pit_agl;
-//void MotorMixer_OutStop();
+
+    float yaw_omg;
+    float rol_omg;
+    float pit_omg;
+
+    float vel; 
+    float thrust;
+
+    float alt;
+}Quad_ExpectStatus_t;
+
+typedef struct{
+    float yaw_omg;
+    float rol_agl;
+    float pit_agl;
+}Quad_ExpectStatusLimit_t;
+
+typedef struct {
+
+    float throttle;
+    float rol;
+    float pit;
+    float yaw;
+
+    float mix[4];     // 混控计算中间变量
+    float motor[4];  // 电机输出值 (0.0-1.0)
+}Quad_Output_t;
+typedef struct {
+    Quad_CtrlFreqParams_t ctrl_freq; // 控制频率参数
+
+    float baseThrottle;        // 基础油门值
+
+    Quad_PIDParams_t pid; // PID参数
+     // 低通滤波器参数
+
+    Quad_ExpectStatusLimit_t expect_status_limit;
+
+    Quad_MotorConfig_t motor_limit;     // 四个电机的配置
+}Quad_Params_t;
+
+typedef struct{
+    int64_t now;
+    float dt;
+    int64_t last;
+
+    Quad_Params_t *param;
+
+    Quad_PID_t pid;
+    Quad_LowPassFilter2p_t filter;
+    Quad_Kalman_t kalman;
+
+    Quad_CurrentStatus_t current_status;
+    Quad_ExpectStatus_t expect_status;
+
+    Quad_Output_t output;
+}Quad_t;
+
+int8_t Quad_Init(Quad_t *q, Quad_Params_t *param, float freq);
+int8_t Quad_Ctrl(Quad_t *q, Quad_CMD_t cmd);
+void   Quad_stop();
 #ifdef __cplusplus
 }
 #endif

User/task/atti_esti.c

@@ -27,6 +27,8 @@ AHRS_Magn_t magn;
 AHRS_Eulr_t eulr_to_send;
 
 float accl_z_for_heightestimation;
+AHRS_Eulr_t eulr_for_quad;
+
 KPID_t imu_temp_ctrl_pid;
 //Chassis_IMU_t chassis_to_send;
 
@@ -148,9 +150,10 @@ void Task_atti_esti(void *argument) {
     osKernelUnlock();
 
     accl_z_for_heightestimation = bmi088.accl.z;
+	eulr_for_quad=eulr_to_send;
     /* 创建修改后的数据副本用于发送到消息队列 */
     osMessageQueuePut(task_runtime.msgq.heightestimation.accl_z, &accl_z_for_heightestimation, 0, 0);
-    
+    osMessageQueuePut(task_runtime.msgq.quad.eulr, &eulr_for_quad, 0, 0);
     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 */

User/task/cmd.c

@@ -0,0 +1,63 @@
+/*
+    cmd Task
+    
+*/
+
+/* Includes ----------------------------------------------------------------- */
+#include "task/user_task.h"
+/* USER INCLUDE BEGIN */
+#include "device/at9s_pro.h"
+#include "module/at9s_pro_cmd.h"
+#include "module/xm_quadctrl.h"
+/* USER INCLUDE END */
+
+/* Private typedef ---------------------------------------------------------- */
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private variables -------------------------------------------------------- */
+/* USER STRUCT BEGIN */
+ uint8_t cmd_buffer[DEVICE_AT9S_FRAME_LEN];
+ DEVICE_AT9S_t at9s;
+ COMP_AT9S_CMD_t rc_cmd;
+ Quad_CMD_t cmd_for_quad;
+/* USER STRUCT END */
+
+/* Private function --------------------------------------------------------- */
+/* Exported functions ------------------------------------------------------- */
+void Task_cmd(void *argument) {
+  (void)argument; /* 未使用argument，消除警告 */
+
+  
+  /* 计算任务运行到指定频率需要等待的tick数 */
+  const uint32_t delay_tick = osKernelGetTickFreq() / CMD_FREQ;
+
+  osDelay(CMD_INIT_DELAY); /* 延时一段时间再开启任务 */
+
+  uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
+  /* USER CODE INIT BEGIN */
+  DEVICE_AT9S_Init(&at9s);
+  DEVICE_AT9S_StartDmaRecv(cmd_buffer);
+  /* USER CODE INIT END */
+  
+  while (1) {
+    tick += delay_tick; /* 计算下一个唤醒时刻 */
+    /* USER CODE BEGIN */
+	if (DEVICE_AT9S_WaitDmaCplt(10)) {
+        DEVICE_AT9S_ParseRaw(cmd_buffer, &at9s);
+		COMP_AT9S_CMD_ParseRc(&at9s, &rc_cmd);
+        DEVICE_AT9S_StartDmaRecv(cmd_buffer);
+    }
+	
+	cmd_for_quad.online=rc_cmd.online;
+	cmd_for_quad.throttle=rc_cmd.ch_l_y;
+	cmd_for_quad.yaw=rc_cmd.ch_l_x;
+	cmd_for_quad.pit=rc_cmd.ch_r_y;
+	cmd_for_quad.rol=rc_cmd.ch_r_x;
+	cmd_for_quad.stop=rc_cmd.stop;
+	
+	osMessageQueuePut(task_runtime.msgq.quad.cmd, &cmd_for_quad, 0, 0);
+    /* USER CODE END */
+    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
+  }
+  
+}

User/task/config.yaml

@@ -1,4 +1,3 @@
-
 - delay: 0
   description: ''
   freq_control: true
@@ -6,7 +5,6 @@
   function: Task_atti_esti
   name: atti_esti
   stack: 256
-
 - delay: 0
   description: ''
   freq_control: true
@@ -14,7 +12,6 @@
   function: Task_blink
   name: blink
   stack: 256
-
 - delay: 300
   description: ''
   freq_control: true
@@ -22,19 +19,17 @@
   function: Task_height_cal
   name: height_cal
   stack: 256
-
+- delay: 0
-- delay: 500
   description: ''
   freq_control: true
-  frequency: 500.0
+  frequency: 1000.0
-  function: Task_main_control
+  function: Task_quad_ctrl
-  name: main_control
+  name: quad_ctrl
-  stack: 256
+  stack: 512
-
 - delay: 0
   description: ''
   freq_control: true
   frequency: 500.0
-  function: Task_rc
+  function: Task_cmd
-  name: rc
+  name: cmd
   stack: 256

User/task/height_cal.c

@@ -1,8 +1,11 @@
 /*
     height_cal Task
+    
 */
 
 /* Includes ----------------------------------------------------------------- */
+#include "task/user_task.h"
+/* USER INCLUDE BEGIN */
 #include "task\user_task.h"
 #include "timers.h"
 #include "device/bmi088.h"
@@ -10,43 +13,43 @@
 
 #include "component/ahrs.h"
 #include "module/HeightEstimation.h"
+/* USER INCLUDE END */
+
 /* Private typedef ---------------------------------------------------------- */
 /* Private define ----------------------------------------------------------- */
-
 /* Private macro ------------------------------------------------------------ */
 /* Private variables -------------------------------------------------------- */
-
+/* USER STRUCT BEGIN */
-
 float accl_z_buffer;
 float estimated_velocity;
 float estimated_height;
+/* USER STRUCT END */
+
 /* Private function --------------------------------------------------------- */
 /* Exported functions ------------------------------------------------------- */
-
-/**
- * \brief ps2 Task
- *
- * \param argument 
- */
 void Task_height_cal(void *argument) {
-  (void)argument; 
+  (void)argument; /* 未使用argument，消除警告 */
 
   
+  /* 计算任务运行到指定频率需要等待的tick数 */
   const uint32_t delay_tick = osKernelGetTickFreq() / HEIGHT_CAL_FREQ;
 
-	osDelay(HEIGHT_CAL_INIT_DELAY); 
+  osDelay(HEIGHT_CAL_INIT_DELAY); /* 延时一段时间再开启任务 */
-  uint32_t tick = osKernelGetTickCount(); 
 
+  uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
+  /* USER CODE INIT BEGIN */
   HeightEstimation_Init(HEIGHT_CAL_FREQ);
-  while (1) {
+  /* USER CODE INIT END */
-    tick += delay_tick; 
   
-    /*User code begin*/
+  while (1) {
+    tick += delay_tick; /* 计算下一个唤醒时刻 */
+    /* USER CODE BEGIN */
 	osMessageQueueGet(task_runtime.msgq.heightestimation.accl_z, &accl_z_buffer, NULL, 0);
 	HeightEstimation_GetHeight(&estimated_height, &estimated_velocity, accl_z_buffer);
-//	osMessageQueuePut(task_runtime.msgq., &estimated_height, 0, 0);
+	osMessageQueuePut(task_runtime.msgq.quad.alt, &estimated_height, 0, 0);
-    /*User code end*/
+	osMessageQueuePut(task_runtime.msgq.quad.vel, &estimated_velocity, 0, 0);
-
+    /* USER CODE END */
-    osDelayUntil(tick); 
+    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
   }
+  
 }

User/task/init.c

@@ -8,6 +8,7 @@
 
 /* USER INCLUDE BEGIN */
 #include "component/ahrs.h"
+#include "module/xm_quadctrl.h"
 /* USER INCLUDE END */
 
 /* Private typedef ---------------------------------------------------------- */
@@ -31,14 +32,18 @@ void Task_Init(void *argument) {
   
   /* 创建任务线程 */
   task_runtime.thread.atti_esti = osThreadNew(Task_atti_esti, NULL, &attr_atti_esti);
-  task_runtime.thread.rc = osThreadNew(Task_rc, NULL, &attr_rc);
   task_runtime.thread.blink = osThreadNew(Task_blink, NULL, &attr_blink);
   task_runtime.thread.height_cal = osThreadNew(Task_height_cal, NULL, &attr_height_cal);
-//  task_runtime.thread.main_ctrl = osThreadNew(Task_main_ctrl, NULL, &attr_main_ctrl);
+  task_runtime.thread.quad_ctrl = osThreadNew(Task_quad_ctrl, NULL, &attr_quad_ctrl);
+  task_runtime.thread.cmd = osThreadNew(Task_cmd, NULL, &attr_cmd);
 
   // 创建消息队列
   /* USER MESSAGE BEGIN */
 	task_runtime.msgq.heightestimation.accl_z= osMessageQueueNew(5, sizeof(float), NULL);
+	task_runtime.msgq.quad.eulr= osMessageQueueNew(3, sizeof(AHRS_Eulr_t), NULL);
+	task_runtime.msgq.quad.alt= osMessageQueueNew(3, sizeof(float), NULL);
+	task_runtime.msgq.quad.vel= osMessageQueueNew(3, sizeof(float), NULL);
+	task_runtime.msgq.quad.cmd= osMessageQueueNew(3, sizeof(Quad_CMD_t), NULL);
   /* USER MESSAGE END */
 
   osKernelUnlock(); // 解锁内核

User/task/main_control.c

@@ -1,135 +0,0 @@
-/*
-    main_control Task
-*/
-
-/* Includes ----------------------------------------------------------------- */
-#include "task\user_task.h"
-#include "main.h"
-#include "module/xm_quadctrl.h"
-#include "device/buzzer.h"
-#include "bsp/time.h"
-#include "bsp/pwm.h"
-#include "component/ahrs.h"
-/* Private typedef ---------------------------------------------------------- */
-/* Private define ----------------------------------------------------------- */
-/* Private macro ------------------------------------------------------------ */
-/* Private variables -------------------------------------------------------- */
-//uint32_t main_control_cnt_last;
-//float main_control_dt;
-
-//SensorData sensors = {0};
-// main_control_rc;
-
-//uint8_t main_control_running_states;
-/* Private function --------------------------------------------------------- */
-
-/* Exported functions ------------------------------------------------------- */
-/**
- * \brief main_control Task
- *
- * \param argument 未使用
- */
-
-//	Control_t ctrl;
-void Task_main_control(void *argument) {
-  (void)argument; /* 未使用argument，消除警告 */
-
-  /* 计算任务运行到指定频率需要等待的tick数 */
-  const uint32_t delay_tick = osKernelGetTickFreq() / MAIN_CTRL_INIT_DELAY;
-
-  osDelay(MAIN_CTRL_FREQ); /* 延时一段时间再开启任务	*/
-
-
-  uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
-
-//	FlightController_Init(MAIN_CTRL_INIT_DELAY);
-//	BSP_PWM_Start(BSP_PWM_MOTOR_OUT1);
-//	BSP_PWM_Start(BSP_PWM_MOTOR_OUT2);
-//	BSP_PWM_Start(BSP_PWM_MOTOR_OUT3);
-//	BSP_PWM_Start(BSP_PWM_MOTOR_OUT4);
-  while (1) {
-    tick += delay_tick; /* 计算下一个唤醒时刻 */
-    
-    /*User code begin*/
-//    AHRS_Accl_t accl_data;
-//    AHRS_Gyro_t gyro_data;
-//    float fixed_height_buffer;
-//	float speed_z_buffer;  
-//    osMessageQueueGet(task_runtime.msgq.accl, &accl_data, NULL, 0);
-//    osMessageQueueGet(task_runtime.msgq.gyro, &gyro_data, NULL, 0);
-//    osMessageQueueGet(task_runtime.msgq.fixed_height, &fixed_height_buffer, NULL, 0);
-//	osMessageQueueGet(task_runtime.msgq.speed_z, &speed_z_buffer, NULL, 0);
-//    osMessageQueueGet(task_runtime.msgq.rc, &main_control_rc, NULL, 0);
-//            sensors.accel[0] = accl_data.x;
-//            sensors.accel[1] = accl_data.y;
-//            sensors.accel[2] = accl_data.z;
-//            sensors.gyro[0] = gyro_data.x;
-//            sensors.gyro[1] = gyro_data.y;
-//            sensors.gyro[2] = gyro_data.z;
-//            sensors.baro_alt = fixed_height_buffer;
-//			sensors.speed_z = speed_z_buffer;
-//	  // 获取遥控器输入
-
-//    main_control_dt = DWT_GetDeltaT(&main_control_cnt_last);
-
-//     // 执行控制计算
-////        Control_t ctrl;
-//        FlightController_Update(sensors, &ctrl, main_control_dt, main_control_rc);
-//        float output_check=0;
-//      switch(main_control_running_states){
-//		  case 0: 
-//		output_check = 0.275+0.21*0.8*((main_control_rc.Rocker_LY-0.5)*2);
-//		BSP_PWM_Set(BSP_PWM_MOTOR_OUT1, output_check);
-//		BSP_PWM_Set(BSP_PWM_MOTOR_OUT2, output_check); 
-//		BSP_PWM_Set(BSP_PWM_MOTOR_OUT3, output_check);
-//		BSP_PWM_Set(BSP_PWM_MOTOR_OUT4, output_check);
-//			if(main_control_rc.Key_R_Up == 1){
-//		    main_control_running_states=1;
-//			}else if(main_control_rc.Key_R_Right == 1){
-//			main_control_running_states=4;
-//			}
-//			break;
-//		  case 1:	
-//		  BSP_BUZZER_Set(BSP_BUZZER_ON, BSP_BUZZER_C5, 1);
-//		  osDelay(500);
-//		  BSP_BUZZER_Stop();
-//		  osDelay(2000);
-//		  main_control_running_states=2;
-//		  if(main_control_rc.Key_R_Right == 1){
-//		    main_control_running_states=4;
-//			}
-//		    break;
-//		  case 2:
-//			  MotorMixer_Init();
-//			  Apply_Motor_Outputs(ctrl);
-//		  if(main_control_rc.Key_R_Down == 1){
-//		  main_control_running_states=3;
-//		  }else if(main_control_rc.Key_R_Right == 1){
-//		  main_control_running_states=4;
-//		  } 
-//			break;
-//		  case 3:
-//		  BSP_PWM_Set(BSP_PWM_MOTOR_OUT1, 0.275);
-//		  BSP_PWM_Set(BSP_PWM_MOTOR_OUT2, 0.275); 
-//		  BSP_PWM_Set(BSP_PWM_MOTOR_OUT3, 0.275);
-//		  BSP_PWM_Set(BSP_PWM_MOTOR_OUT4, 0.275);
-//		  main_control_running_states=0;
-//		  if(main_control_rc.Key_R_Right == 1){
-//		    main_control_running_states=4;
-//			}
-//			break;
-//		  case 4:
-//			MotorMixer_OutStop();
-//		  break;
-//		  default:
-//			break;
-//	  }
-//	  BSP_PWM_Set(BSP_PWM_MOTOR_OUT1, 0.275);
-//		  BSP_PWM_Set(BSP_PWM_MOTOR_OUT2, 0.275); 
-//		  BSP_PWM_Set(BSP_PWM_MOTOR_OUT3, 0.275);
-//		  BSP_PWM_Set(BSP_PWM_MOTOR_OUT4, 0.275);
-    /*User code end*/
-
-    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
-  }
-}

User/task/quad_ctrl.c

@@ -0,0 +1,50 @@
+/*
+    quad_ctrl Task
+    
+*/
+
+/* Includes ----------------------------------------------------------------- */
+#include "task/user_task.h"
+/* USER INCLUDE BEGIN */
+#include "module/xm_quadctrl.h"
+#include "module/config.h"
+/* USER INCLUDE END */
+
+/* Private typedef ---------------------------------------------------------- */
+/* Private define ----------------------------------------------------------- */
+/* Private macro ------------------------------------------------------------ */
+/* Private variables -------------------------------------------------------- */
+/* USER STRUCT BEGIN */
+Quad_t q;
+Quad_CMD_t quad_cmd;
+/* USER STRUCT END */
+
+/* Private function --------------------------------------------------------- */
+/* Exported functions ------------------------------------------------------- */
+void Task_quad_ctrl(void *argument) {
+  (void)argument; /* 未使用argument，消除警告 */
+
+  
+  /* 计算任务运行到指定频率需要等待的tick数 */
+  const uint32_t delay_tick = osKernelGetTickFreq() / QUAD_CTRL_FREQ;
+
+  osDelay(QUAD_CTRL_INIT_DELAY); /* 延时一段时间再开启任务 */
+
+  uint32_t tick = osKernelGetTickCount(); /* 控制任务运行频率的计时 */
+  /* USER CODE INIT BEGIN */
+	Quad_Init(&q,&Config_GetRobotParam()->quad_params,QUAD_CTRL_FREQ);
+  /* 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.quad.eulr, &q.current_status.eulr, NULL, 0);
+	osMessageQueueGet(task_runtime.msgq.quad.alt, &q.current_status.alt, NULL, 0);
+	osMessageQueueGet(task_runtime.msgq.quad.vel, &q.current_status.vel_z, NULL, 0);
+	osMessageQueueGet(task_runtime.msgq.quad.cmd, &quad_cmd, NULL, 0);
+	Quad_Ctrl(&q,quad_cmd);
+    /* USER CODE END */
+    osDelayUntil(tick); /* 运行结束，等待下一次唤醒 */
+  }
+  
+}

User/task/user_task.c

@@ -14,11 +14,6 @@ const osThreadAttr_t attr_atti_esti = {
     .priority = osPriorityNormal,
     .stack_size = 256 * 4,
 };
-const osThreadAttr_t attr_rc = {
-    .name = "rc",
-    .priority = osPriorityNormal,
-    .stack_size = 256 * 4,
-};
 const osThreadAttr_t attr_blink = {
     .name = "blink",
     .priority = osPriorityNormal,
@@ -29,8 +24,13 @@ const osThreadAttr_t attr_height_cal = {
     .priority = osPriorityNormal,
     .stack_size = 256 * 4,
 };
-const osThreadAttr_t attr_main_ctrl = {
+const osThreadAttr_t attr_quad_ctrl = {
-    .name = "main_ctrl",
+    .name = "quad_ctrl",
+    .priority = osPriorityNormal,
+    .stack_size = 512 * 4,
+};
+const osThreadAttr_t attr_cmd = {
+    .name = "cmd",
     .priority = osPriorityNormal,
     .stack_size = 256 * 4,
 };

User/task/user_task.h

@@ -13,19 +13,19 @@ extern "C" {
 /* USER INCLUDE END */
 /* Exported constants ------------------------------------------------------- */
 /* 任务运行频率 */
-#define ATTI_ESTI_FREQ (500.0)
+#define ATTI_ESTI_FREQ (1000.0)
-#define RC_FREQ (500.0)
 #define BLINK_FREQ (100.0)
 #define HEIGHT_CAL_FREQ (500.0)
-#define MAIN_CTRL_FREQ (500.0)
+#define QUAD_CTRL_FREQ (1000.0)
+#define CMD_FREQ (500.0)
 
 /* 任务初始化延时ms */
 #define TASK_INIT_DELAY (100u)
 #define ATTI_ESTI_INIT_DELAY (0)
-#define RC_INIT_DELAY (0)
 #define BLINK_INIT_DELAY (0)
 #define HEIGHT_CAL_INIT_DELAY (300)
-#define MAIN_CTRL_INIT_DELAY (500)
+#define QUAD_CTRL_INIT_DELAY (0)
+#define CMD_INIT_DELAY (0)
 
 /* Exported defines --------------------------------------------------------- */
 /* Exported macro ----------------------------------------------------------- */
@@ -36,10 +36,10 @@ typedef struct {
     /* 各任务，也可以叫做线程 */
     struct {
         osThreadId_t atti_esti;
-        osThreadId_t rc;
         osThreadId_t blink;
         osThreadId_t height_cal;
-        osThreadId_t main_ctrl;
+        osThreadId_t quad_ctrl;
+        osThreadId_t cmd;
     } thread;
 
     /* USER MESSAGE BEGIN */
@@ -50,6 +50,13 @@ typedef struct {
         {
             osMessageQueueId_t accl_z;  /* z轴加速度 */
         }heightestimation;
+		
+		struct{
+			osMessageQueueId_t eulr;
+			osMessageQueueId_t alt;
+			osMessageQueueId_t vel;
+			osMessageQueueId_t cmd;
+		}quad;
     } msgq;
 
     /* USER MESSAGE END */
@@ -68,28 +75,28 @@ typedef struct {
     /* 各任务的stack使用 */
     struct {
         UBaseType_t atti_esti;
-        UBaseType_t rc;
         UBaseType_t blink;
         UBaseType_t height_cal;
-        UBaseType_t main_ctrl;
+        UBaseType_t quad_ctrl;
+        UBaseType_t cmd;
     } stack_water_mark;
 
     /* 各任务运行频率 */
     struct {
         float atti_esti;
-        float rc;
         float blink;
         float height_cal;
-        float main_ctrl;
+        float quad_ctrl;
+        float cmd;
     } freq;
 
     /* 任务最近运行时间 */
     struct {
         float atti_esti;
-        float rc;
         float blink;
         float height_cal;
-        float main_ctrl;
+        float quad_ctrl;
+        float cmd;
     } last_up_time;
 
 } Task_Runtime_t;
@@ -100,18 +107,18 @@ extern Task_Runtime_t task_runtime;
 /* 初始化任务句柄 */
 extern const osThreadAttr_t attr_init;
 extern const osThreadAttr_t attr_atti_esti;
-extern const osThreadAttr_t attr_rc;
 extern const osThreadAttr_t attr_blink;
 extern const osThreadAttr_t attr_height_cal;
-extern const osThreadAttr_t attr_main_ctrl;
+extern const osThreadAttr_t attr_quad_ctrl;
+extern const osThreadAttr_t attr_cmd;
 
 /* 任务函数声明 */
 void Task_Init(void *argument);
 void Task_atti_esti(void *argument);
-void Task_rc(void *argument);
 void Task_blink(void *argument);
 void Task_height_cal(void *argument);
-void Task_main_ctrl(void *argument);
+void Task_quad_ctrl(void *argument);
+void Task_cmd(void *argument);
 
 #ifdef __cplusplus
 }