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fix bug.

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This commit is contained in:
xinyang
2019-08-04 17:23:11 +08:00
parent 8f33549e2c
commit 1434cee8c0
1 changed files with 4 additions and 4 deletions
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8
energy/src/energy/send/send.cpp
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@@ -24,10 +24,10 @@ void Energy::sendEnergy() {
pitch_rotation = BIG_PITCH_AIM_KP * pitch_rotation + BIG_PITCH_AIM_KI * sum_pitch +
BIG_PITCH_AIM_KD * (pitch_rotation - last_pitch);
} else if (is_chassis) {
sum_yaw += yaw_rotation - mcuData.curr_yaw;
sum_pitch += pitch_rotation - mcuData.curr_pitch;
yaw_rotation = BIG_YAW_AIM_KP * (yaw_rotation - mcuData.curr_yaw) + BIG_YAW_AIM_KI * sum_yaw;
pitch_rotation = BIG_PITCH_AIM_KP * (pitch_rotation - mcuData.curr_pitch) + BIG_PITCH_AIM_KI * sum_pitch;
sum_yaw += yaw_rotation - mcu_data.curr_yaw;
sum_pitch += pitch_rotation - mcu_data.curr_pitch;
yaw_rotation = BIG_YAW_AIM_KP * (yaw_rotation - mcu_data.curr_yaw) + BIG_YAW_AIM_KI * sum_yaw;
pitch_rotation = BIG_PITCH_AIM_KP * (pitch_rotation - mcu_data.curr_pitch) + BIG_PITCH_AIM_KI * sum_pitch;
}
} else if (is_small){
sum_yaw += yaw_rotation;