RoboMasters Infantry 官方源码分析

工程名 RM2016_INFANTRY_OPEN_SOURCEV.1.6.4

任务分析

IOTask.c

上位机校准用，校准陀螺仪参数以及云台PID，云台PID offset数据保存在结构体

PIDParamStruct_t PitchPositionPID;
PIDParamStruct_t PitchSpeedPID;
PIDParamStruct_t YawPositionPID;
PIDParamStruct_t YawSpeedPID;

并写入到flash，运行时修正offset（ControlTask.c中的void GMYawControlLoop(void)函数中

GMYPositionPID.kp = YAW_POSITION_KP_DEFAULTS + YawPositionSavedPID.kp_offset;// gAppParamStruct.YawPositionPID.kp_offset; //may be bug if more operation done
GMYPositionPID.ki = YAW_POSITION_KI_DEFAULTS + YawPositionSavedPID.ki_offset;
GMYPositionPID.kd = YAW_POSITION_KD_DEFAULTS + YawPositionSavedPID.kd_offset;
GMYSpeedPID.kp = YAW_SPEED_KP_DEFAULTS + YawSpeedSavedPID.kp_offset;
GMYSpeedPID.ki = YAW_SPEED_KI_DEFAULTS + YawSpeedSavedPID.ki_offset;
GMYSpeedPID.kd = YAW_SPEED_KD_DEFAULTS + YawSpeedSavedPID.kd_offset;