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cleanup: remove unused motor drivers and simplify motor_def.h

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- Remove DJImotor, HTmotor, LKmotor, step_motor, servo_motor directories
- Remove Motor_Control_Setting_s and related enums (Closeloop_Type_e,
  Feedback_Source_e, Feedfoward_Type_e, MOTOR_SEND_MODE_e, Motor_Working_Type_e)
- Merge motor_reverse_flag and feedback_reverse_flag into output_reverse
- Hardcode DM motor control: IMU angle feedback → angle PID → velocity output
- Simplify Motor_Init_Config_s to only: PID params, output_reverse, motor_type, CAN config
This commit is contained in:
李傲琦
2026-05-29 23:45:38 +08:00
parent 4d1702b577
commit 67a26a5ff6
26 changed files with 44 additions and 4068 deletions
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application/gimbal/gimbal.c
+2 -14
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@@ -43,13 +43,7 @@ void GimbalInit()
.other_angle_feedback_ptr = &gimbal_IMU_data->YawTotalAngle,
.other_speed_feedback_ptr = &gimbal_IMU_data->Gyro[2],
},
.controller_setting_init_config = {
.angle_feedback_source = OTHER_FEED,
.speed_feedback_source = OTHER_FEED,
.outer_loop_type = ANGLE_LOOP,
.close_loop_type = ANGLE_LOOP,
.output_reverse = OUTPUT_DIRECTION_NORMAL,
},
.output_reverse = OUTPUT_DIRECTION_NORMAL,
.motor_type = DM_MOTOR,
},
.ctrl_mode = DM_MODE_VELOCITY,
@@ -77,13 +71,7 @@ void GimbalInit()
.other_angle_feedback_ptr = &gimbal_IMU_data->Pitch,
.other_speed_feedback_ptr = &gimbal_IMU_data->Gyro[0],
},
.controller_setting_init_config = {
.angle_feedback_source = OTHER_FEED,
.speed_feedback_source = OTHER_FEED,
.outer_loop_type = ANGLE_LOOP,
.close_loop_type = ANGLE_LOOP,
.output_reverse = OUTPUT_DIRECTION_NORMAL,
},
.output_reverse = OUTPUT_DIRECTION_NORMAL,
.motor_type = DM_MOTOR,
},
.ctrl_mode = DM_MODE_VELOCITY,