50 lines
1.2 KiB
YAML
50 lines
1.2 KiB
YAML
- delay: 0
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description: ''
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freq_control: true
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frequency: 500.0
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function: Task_ai
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name: ai
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stack: 256
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- delay: 0
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description: ''
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freq_control: true
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frequency: 500.0
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function: Task_blink
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name: blink
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stack: 256
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- delay: 0
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description: ''
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freq_control: true
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frequency: 500.0
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function: Task_ctrl_gimbal
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name: ctrl_gimbal
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stack: 256
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- delay: 0
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description: ''
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freq_control: true
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frequency: 500.0
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function: Task_monitor
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name: monitor
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stack: 256
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- delay: 0
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description: ''
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freq_control: true
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frequency: 500.0
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function: Task_rc
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name: rc
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stack: 256
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- delay: 0
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description: ''
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freq_control: true
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frequency: 500.0
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function: Task_ctrl_shoot
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name: ctrl_shoot
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stack: 256
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- delay: 500
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description: 带有pwm温控的纯陀螺仪（BMI088）姿态解算任务（无磁力计，赛场环境一般不适用）。控制IMU加热到指定温度防止温漂，收集IMU数据给AHRS算法。收集BMI088的数据，解算后得到四元数，转换为欧拉角之后放到消息队列中，等待其他任务取用。陀螺仪使用前需要校准，校准结果保存在bmi088_cali结构体中，需要自行实现。
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freq_control: false
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function: Task_atti_esti
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name: atti_esti
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preset_task: atti_esti
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stack: 512
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