修正板选中yaw_err的计算
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@ -173,8 +173,8 @@ static void RemoteControlSet() {
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gimbal_cmd_send.pitch = trajectory_cal.cmd_pitch * 180 / PI;
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gimbal_cmd_send.pitch = trajectory_cal.cmd_pitch * 180 / PI;
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float yaw_err = fabsf(trajectory_cal.cmd_yaw - gimbal_cmd_send.yaw);
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float yaw_err = fabsf(gimbal_cmd_send.yaw - gimbal_fetch_data.gimbal_imu_data.Yaw);
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if (yaw_err <= 0.008) //3度
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if (yaw_err <= 3) //3度
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aim_select.suggest_fire = 1;
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aim_select.suggest_fire = 1;
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else
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else
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aim_select.suggest_fire = 0;
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aim_select.suggest_fire = 0;
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