ELCT/Simba-OmniInfantry
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修复上电云台正方向问题，以及初步调好了底盘跟随PID，以及小陀螺模式下的运动偏移问题。

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This commit is contained in:
lyf
2026-09-12 19:05:26 +08:00
parent cf736569fb
commit 79a545b379
14 changed files with 266 additions and 71 deletions
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云台/modules/control/gimbal.c
+35 -15
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@@ -16,6 +16,8 @@
#include "can.h"
#include "robot_param.h"
#include "filter.h"
#include "robot_typedef.h"
#include "dr16.h"
#ifndef RAD_TO_ANGLE
#define RAD_TO_ANGLE 57.295779513082320876798154814105f
@@ -133,24 +135,31 @@ void gimbal_control(float yaw_delta, float pitch_delta, uint8_t reset_flag)
const float yaw_meas = sign * att_deg_yaw; // °
const float yaw_rate_meas = sign * (bmi088_gyro[2] * RAD_TO_ANGLE); // °/s
/* 首次进入控制:目标角同步为当前姿态(否则 Yaw 目标仍为初始 0°,
* 一闭环就会朝 0° 猛转) */
/* 首次进入控制或复位:将目标角设定为设定的编码器零位朝向(类似 Pitch 上电归位) */
static uint8_t first_run = 1;
if (first_run)
if (first_run || reset_flag)
{
first_run = 0;
yaw_target_deg = yaw_meas;
pitch_target_deg = 0;
}
if (reset_flag)
{
yaw_target_deg = yaw_meas; // Yaw 复位为当前角度
pitch_target_deg = 0; // Pitch 复位为上电位置
PID_PositionClean(&yaw_angle_pid);
PID_PositionClean(&yaw_speed_pid);
PID_PositionClean(&pitch_angle_pid);
PID_PositionClean(&pitch_speed_pid);
/* 计算当前编码器距离设定零位的最短差值(-4096 ~ +4096) */
int16_t ecd_diff = (int16_t)motor_yaw_gimbal.fdb.raw_angle - (int16_t)YAW_GM6020_ENCODER_ZERO;
if (ecd_diff > 4096)
ecd_diff -= 8192;
else if (ecd_diff < -4096)
ecd_diff += 8192;
/* 将编码器 tick 差折算为机械角度偏差(°)，补偿给世界系目标角 */
const float ecd_err_deg = (float)ecd_diff * (360.0f / 8192.0f);
yaw_target_deg = yaw_meas - ecd_err_deg;
pitch_target_deg = 0;
if (reset_flag)
{
PID_PositionClean(&yaw_angle_pid);
PID_PositionClean(&yaw_speed_pid);
PID_PositionClean(&pitch_angle_pid);
PID_PositionClean(&pitch_speed_pid);
}
}
yaw_target_deg += yaw_delta;
@@ -163,7 +172,18 @@ void gimbal_control(float yaw_delta, float pitch_delta, uint8_t reset_flag)
/* Yaw 速度环:°/s -> 电压(反馈为带符号陀螺角速度,双环符号自洽) */
yaw_speed_pid.Need_Value = yaw_angle_pid.OUT;
PID_PositionCalc(&yaw_speed_pid, yaw_rate_meas);
yaw_voltage = yaw_speed_pid.OUT;
/* 小陀螺底盘自旋解耦前馈:根据底盘相对转速补偿动摩擦与反电动势拖拽，消除同向/反向手感不对称 */
float spin_feedforward = 0.0f;
if (cmd_robot.spin_flag || dr16.s2 == 1 || dr16.s2 == 2)
{
spin_feedforward = GIMBAL_YAW_SPIN_FEEDFORWARD_K * (float)motor_yaw_gimbal.fdb.rotor_speed;
}
yaw_voltage = yaw_speed_pid.OUT + spin_feedforward;
if (yaw_voltage > GIMBAL_YAW_SPEED_OUT_LIMIT)
yaw_voltage = GIMBAL_YAW_SPEED_OUT_LIMIT;
else if (yaw_voltage < -GIMBAL_YAW_SPEED_OUT_LIMIT)
yaw_voltage = -GIMBAL_YAW_SPEED_OUT_LIMIT;
/* Pitch 串级闭环,位置环反馈为 AHRS Roll(legacy 语义) */
pitch_angle_pid.Need_Value = pitch_target_deg;