Gimbal

AimBot/Gimbal

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Author	SHA1	Message	Date
SkyLiCoder	ea4e45b940	feat: add IMU mount orientation correction via macro-controlled axis remapping Support NORMAL, YAW_180, ROLL_180, PITCH_180 presets selected at compile time by IMU_MOUNT_ORIENTATION macro. Replaces direct BMI088-to-INS assignment with IMU_Mount_Correct() for sign flip and axis swap.	2026-05-31 19:45:56 +08:00
SkyLiCoder	ea493af11f	fix: remove attitude_t, unify with INS_t - 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	5b3333125d	第一次提交	2026-05-29 17:36:34 +08:00

Author

SHA1

Message

Date

SkyLiCoder

ea4e45b940

feat: add IMU mount orientation correction via macro-controlled axis remapping

Support NORMAL, YAW_180, ROLL_180, PITCH_180 presets selected at compile
time by IMU_MOUNT_ORIENTATION macro. Replaces direct BMI088-to-INS
assignment with IMU_Mount_Correct() for sign flip and axis swap.

2026-05-31 19:45:56 +08:00

SkyLiCoder

ea493af11f

fix: remove attitude_t, unify with INS_t

- 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

5b3333125d

第一次提交

2026-05-29 17:36:34 +08:00

3 Commits