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完善阿克曼控制与高速串口遥测

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- 校正舵机中位、转向符号和阿克曼后轮差速模型\n- 增加航向角速度辅助及遥控通道调试开关\n- 将速度环提升至 200Hz，并按实际 dt 计算 PI 积分\n- 将 IMU 启动校准缩短为 2 秒\n- 为 USART3 增加 DMA 发送和 MCU 采样时间戳
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cyy_mac
2026-08-12 18:51:48 +08:00
parent 576784bb4d
commit 93ca37e36c
17 changed files with 2151 additions and 932 deletions
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8
BALANCE/system.h
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@@ -94,9 +94,11 @@ extern long int ErrorCode;
void systemInit(void);
/***Macros define***/ /***宏定义***/
//After starting the car (1000/100Hz =10) for seconds, it is allowed to control the car to move
//开机(1000/100hz=10)秒后才允许控制小车进行运动
#define CONTROL_DELAY 1000
//Collect IMU zero-bias samples for 2 seconds at 100 Hz before enabling control.
//开机后以100Hz采集2秒IMU零偏，再允许控制小车运动
#define CONTROL_DELAY 200
//Balance_task counter needed to represent the same 2 second startup delay.
#define CONTROL_STARTUP_DELAY_COUNT (2 * CONTROL_FREQUENCY)
//The number of robot types to determine the value of Divisor_Mode. There are currently 6 car types
//机器人型号数量，决定Divisor_Mode的值，目前有6种小车类型
#define CAR_NUMBER 6