SkyLiCoder
3e77eed2bb
fix: remove duplicate pid_ref from DMMotorInstance
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DMMotorInstance had its own pid_ref field while motor_controller already
has pid_ref. Use motor_controller.pid_ref uniformly.
2026-05-30 00:36:32 +08:00
SkyLiCoder
075495791a
fix: change QuaternionEKF UpdateCount (uint64_t) to accel_lpf_inited (uint8_t)
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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
ea493af11f
fix: remove attitude_t, unify with INS_t
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- Delete attitude_t struct from ins_task.h
- INS_Init() returns INS_t* directly instead of casting from INS.Gyro offset
- Change Gimbal_Upload_Data_s.gimbal_imu_data to INS_t* pointer
- Update gimbal.c and robot_cmd.c accordingly
2026-05-30 00:27:39 +08:00
SkyLiCoder
9b52a9ec64
refactor: rename opencv module to master_machine, remove old master_process
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- Delete modules/master_machine/ (old seasky protocol vision module)
- Rename modules/opencv/ → modules/master_machine/
- Rename opencv.h/c → master_machine.h/c
- Remove master_process.h include from robot_def.h and ins_task.c
- Remove VisionSetAltitude() call from ins_task.c (send not needed)
- Update all #include paths and CMakeLists.txt
2026-05-29 23:52:27 +08:00
SkyLiCoder
67a26a5ff6
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
2026-05-29 23:45:38 +08:00
SkyLiCoder
4d1702b577
refactor: migrate from DJI motors to DM motors, simplify to gimbal-only control
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- 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
SkyLiCoder