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lucainiaoge avatar lucainiaoge commented on August 21, 2024

角度修正这里

两组数据的编码器差值是700，换算成角度为30.762°，而视觉测得的角度差为25°，所以可以认为视觉的角度小了1.23倍，于是相关的代码应该手动修改为：
hero.gimbal.YawAngle = yaw_motor.fdbPosition + PC_Data.yaw * 27.988f;

或许可以考虑一下动态修正
calibration_factor = (yaw.bias_angle - yaw.last_bias_angle)/22.755/(vision_angle-last_vision_angle)
hero.gimbal.YawAngle = yaw_motor.fdbPosition + PC_Data.yaw * calibration_factor;

from imuncle.github.io.

imuncle avatar imuncle commented on August 21, 2024

@lucainiaoge 非常好的想法！！ 👍
但有一个小错误，在此更正一下：

calibration_factor = (yaw.fdbPosition - yaw.last_fdbPosition)/(vision_angle-last_vision_angle)
hero.gimbal.YawAngle = yaw_motor.fdbPosition + PC_Data.yaw * calibration_factor;

那个22.755应该去掉，另外bias_angle的本意是角度偏差，在这里指的是云台中间位置处的电机编码器值，是一个常量。

from imuncle.github.io.

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