4 Commits

Author	SHA1	Message	Date
SkyLiCoder	dff49cb462	fix: replace memcpy in PIDInit with explicit field assignment ... The old approach used memcpy to copy PID_Init_Config_s into PIDInstance, relying on identical struct layout at the beginning. This is fragile and confusing. Now assigns each field explicitly.	2026-05-30 01:14:48 +08:00
SkyLiCoder	075495791a	fix: change QuaternionEKF UpdateCount (uint64_t) to accel_lpf_inited (uint8_t) ... UpdateCount was only used as a first-time-initialization flag for the accel low-pass filter, not as a real counter. Replaced with a simple uint8_t flag and moved the set to the first-update path.	2026-05-30 00:35:54 +08:00
SkyLiCoder	4d1702b577	refactor: migrate from DJI motors to DM motors, simplify to gimbal-only control ... - Rewrite DM motor driver based on DM_6220 reference protocol (MIT/PosVel/Velocity modes) - Use velocity control mode: MCU runs angle PID with IMU feedback, motor handles speed loop - Rewrite vision protocol with 3 frame types (0xA5 auto data, 0xA6 manual data, 0xA7 command) - Decouple serial parsing (opencv module) from mode switching (robot_cmd module) - Implement dual-loop architecture: vision PID outer loop → angle ref → motor PID inner loop - Add KF/PID reset on mode switch transitions - Merge motor_reverse_flag and feedback_reverse_flag into single output_reverse flag - Remove DMMotorEnable/DMMotorStop (motor always runs, controlled by angle ref) - Remove unused modules: DJI/LK/HT/step/servo motors, chassis, shoot, referee - Add ExitRun0Mode() for STM32H723 power supply configuration - Clean up CMakeLists: 115 → 76 C source files	2026-05-29 23:37:36 +08:00
SkyLiCoder	5b3333125d	第一次提交	2026-05-29 17:36:34 +08:00