34 lines
576 B
C
34 lines
576 B
C
#include "remote_cmd.h"
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#include <string.h>
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#include "bsp\uart.h"
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#include "component\crc16.h"
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#include "component\crc8.h"
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#include "component\user_math.h"
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#include "gimbal.h"
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#include "remote_control.h"
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int8_t remote_ParseHost(Gimbal_CMD_t *g_cmd,RC_ctrl_t *rc_ctrl,Gimbal_IMU_t*imu)
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{
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if(rc_ctrl->sw[1]==306){
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g_cmd->mode=GIMBAL_MODE_ABSOLUTE;
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// g_cmd->delta_pit=((rc_ctrl->ch[1]-114)*(0.1/758));//806~-780,0.473~-0.71
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// g_cmd->delta_yaw=((rc_ctrl->ch[0]+84)*(1.8/781));//400~-397
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}
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else if(rc_ctrl->sw[1]==1694)
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{
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g_cmd->mode=GIMBAL_MODE_RELAX;
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}
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}
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