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refactor: manual mode from absolute setpoint to velocity control, remove auto-enable at motor init

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Manual mode now receives angular velocity (degrees/s) via 0xA6 frame instead of
absolute angle reference. The firmware integrates velocity * dt into gimbal angle ref.
Motors are no longer auto-enabled at DMMotorInit — they stay disabled until a mode
switch out of DEBUG. Extract ROBOT_CMD_DELAY macro to replace magic number.
Fix "volity" typo → "velocity" and update docs/protocol comments accordingly.
This commit is contained in:
李傲琦
2026-06-02 16:27:07 +08:00
parent 88702e2832
commit da6acdcc89
8 changed files with 30 additions and 30 deletions
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application/cmd/robot_cmd.c
+6 -6
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@@ -247,11 +247,11 @@ static void VisionTracking()
Kalman_Filter_Update(&pitch_error_kf);
filtered_pitch_error = pitch_error_kf.FilteredValue[0];
float yaw_increment = PIDCalculate(&vision_yaw_pid, filtered_yaw_error, 0);
float pitch_increment = PIDCalculate(&vision_pitch_pid, filtered_pitch_error, 0);
float yaw_degree_velocity = PIDCalculate(&vision_yaw_pid, filtered_yaw_error, 0);
float pitch_degree_velocity = PIDCalculate(&vision_pitch_pid, filtered_pitch_error, 0);
gimbal_yaw_ref += 0.001f * yaw_increment;
gimbal_pitch_ref += 0.001f * pitch_increment;
gimbal_yaw_ref += 0.001f *ROBOT_CMD_DELAY * yaw_degree_velocity;
gimbal_pitch_ref += 0.001f *ROBOT_CMD_DELAY * pitch_degree_velocity;
}
if (gimbal_pitch_ref > 30.0f)
@@ -269,8 +269,8 @@ static void ManualMode()
if (vision_data.manual_updated)
{
vision_data.manual_updated = 0;
gimbal_yaw_ref = vision_data.yaw_ref;
gimbal_pitch_ref = vision_data.pitch_ref;
gimbal_yaw_ref += 0.001f *ROBOT_CMD_DELAY * vision_data.yaw_degree_velocity;
gimbal_pitch_ref += 0.001f *ROBOT_CMD_DELAY * vision_data.pitch_degree_velocity;
}
if (gimbal_pitch_ref > 30.0f)