HFUT_Firmament_EC
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sentry_gimbal_hzz
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This commit is contained in:
Kidenygood 2023-03-05 22:28:31 +08:00
parent 9968393672
commit de286a52c5
5 changed files with 3 additions and 6 deletions
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1
application/gimbal/gimbal.c
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@ -16,7 +16,6 @@ static Gimbal_Ctrl_Cmd_s gimbal_cmd_recv; // 来自cmd的控制信息
void GimbalInit() void GimbalInit()
{ {
/* syh referee不需要imu暂时关闭以加快初始化速度 */
// gimba_IMU_data = INS_Init(); // IMU先初始化,获取姿态数据指针赋给yaw电机的其他数据来源 // gimba_IMU_data = INS_Init(); // IMU先初始化,获取姿态数据指针赋给yaw电机的其他数据来源
// YAW // YAW

2
application/referee/referee.c
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@ -178,8 +178,6 @@ static void robot_mode_change(Referee_Interactive_info_t *_Interactive_data) //
static void My_UI_Refresh(referee_info_t *_referee_info, Referee_Interactive_info_t *_Interactive_data) static void My_UI_Refresh(referee_info_t *_referee_info, Referee_Interactive_info_t *_Interactive_data)
{ {
// syhtodo 按键刷新
Mode_Change_Check(_Interactive_data); Mode_Change_Check(_Interactive_data);
// chassis // chassis
if (_Interactive_data->Referee_Interactive_Flag.chassis_flag == 1) if (_Interactive_data->Referee_Interactive_Flag.chassis_flag == 1)

2
application/robot.c
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@ -24,7 +24,7 @@ void RobotInit()
#endif #endif
#if defined(ONE_BOARD) || defined(CHASSIS_BOARD) #if defined(ONE_BOARD) || defined(CHASSIS_BOARD)
Referee_Interactive_init();//syh Referee_Interactive_init();
ChassisInit(); ChassisInit();
#endif #endif
} }

2
modules/referee/referee_UI.c
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@ -40,7 +40,7 @@ void UI_Delete(referee_id_t *_id, uint8_t Del_Operate, uint8_t Del_Layer)
UI_delete_data.Layer = Del_Layer; UI_delete_data.Layer = Del_Layer;
UI_delete_data.frametail = Get_CRC16_Check_Sum((uint8_t *)&UI_delete_data, LEN_HEADER + LEN_CMDID + temp_datalength, 0xFFFF); UI_delete_data.frametail = Get_CRC16_Check_Sum((uint8_t *)&UI_delete_data, LEN_HEADER + LEN_CMDID + temp_datalength, 0xFFFF);
/* syhtodo为什么填入0xFFFF,关于crc校验 */ /* 填入0xFFFF,关于crc校验 */
RefereeSend((uint8_t *)&UI_delete_data, LEN_HEADER + LEN_CMDID + temp_datalength + LEN_TAIL); // 发送 RefereeSend((uint8_t *)&UI_delete_data, LEN_HEADER + LEN_CMDID + temp_datalength + LEN_TAIL); // 发送

2
modules/referee/referee_def.h
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@ -235,7 +235,7 @@ typedef struct
/* 交互数据头结构 */ /* 交互数据头结构 */
typedef struct typedef struct
{ {
uint16_t data_cmd_id; //由于存在多个内容 ID，但整个cmd_id 上行频率最大为 10Hz，请合理安排带宽。syhtodo 注意交互部分的上行频率 uint16_t data_cmd_id; //由于存在多个内容 ID，但整个cmd_id 上行频率最大为 10Hz，请合理安排带宽。注意交互部分的上行频率
uint16_t sender_ID; uint16_t sender_ID;
uint16_t receiver_ID; uint16_t receiver_ID;
} ext_student_interactive_header_data_t; } ext_student_interactive_header_data_t;