姿态外环
在这里只是用P方法处理误差
fc.RateError[0] = fc.pid[PIDROLL].get_p(rc.Command[ROLL]-imu.angle.x);
fc.RateError[1] = fc.pid[PIDPITCH].get_p(rc.Command[PITCH]-imu.angle.y);
fc.RateError[2] = fc.pid
在这里只是用P方法处理误差
fc.RateError[0] = fc.pid[PIDROLL].get_p(rc.Command[ROLL]-imu.angle.x);
fc.RateError[1] = fc.pid[PIDPITCH].get_p(rc.Command[PITCH]-imu.angle.y);
fc.RateError[2] = fc.pid