完善阿克曼控制与高速串口遥测

- 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
2026-08-12 18:51:48 +08:00
parent 576784bb4d
commit 93ca37e36c
17 changed files with 2151 additions and 932 deletions
--- a/HARDWARE/motor.h
+++ b/HARDWARE/motor.h
@@ -49,7 +49,7 @@
 #define EN     PDin(3)  

 #define Servo_PWM  TIM12->CCR2
-#define SERVO_INIT 1590  //Servo zero point //<2F><><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+#define SERVO_INIT 1670  //Servo straight-ahead point (calibrated 1/R~=0) //<2F><>ֱ<EFBFBD><EFBFBD>ǰ<EFBFBD><EFBFBD>

 void Enable_Pin(void);
 void Servo_PWM_Init(u16 arr,u16 psc);