加速度计单位控制到度每秒

UESTC404 · Jan 1, 2018 · 7dc9fc8 · 7dc9fc8
1 parent fc2e557
commit 7dc9fc8
Showing 1 changed file with 3 additions and 3 deletions.
diff --git a/project/p10-ANO/application/pid.c b/project/p10-ANO/application/pid.c
@@ -137,9 +137,9 @@ void CtrlAttiRate(void)
     yaw_rate_PID.Desired   = range_trans(u16Rcvr_ch4, 5);
 
     uint32_t tnow = msTimerCounter;
-    PID_postion_cal(&roll_rate_PID,  gyro[0], tnow-told); // DMP_GYRO_SCALE
-    PID_postion_cal(&pitch_rate_PID, gyro[1], tnow-told);
-    PID_postion_cal(&yaw_rate_PID,   gyro[2], tnow-told);
+    PID_postion_cal(&roll_rate_PID,  gyro[0] / DMP_GYRO_SCALE, tnow-told); // DMP_GYRO_SCALE
+    PID_postion_cal(&pitch_rate_PID, gyro[1] / DMP_GYRO_SCALE, tnow-told);
+    PID_postion_cal(&yaw_rate_PID,   gyro[2] / DMP_GYRO_SCALE, tnow-told);
     told = tnow;
 }