floraachy
/
SpireCV
forked from floratest1/SpireCV
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

keep old

This commit is contained in:
zzxhwhh520 2024-07-12 10:31:34 +08:00
parent b13f0d78bc
commit 335a3ad363
1 changed files with 4 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
gimbal_ctrl/driver/src/GX40/GX40_gimbal_funtion.cpp
View File

@ -20,9 +20,9 @@
uint32_t GX40GimbalDriver::setGimabalPos(const AMOV_GIMBAL_POS_T &pos)
{
carrierStateMutex.lock();
targetPos[0] = (int16_t)(pos.roll / 0.01f);
targetPos[0] = (int16_t)(-pos.roll / 0.01f);
targetPos[1] = (int16_t)(-pos.pitch / 0.01f);
targetPos[2] = (int16_t)(pos.yaw / 0.01f);
targetPos[2] = (int16_t)(-pos.yaw / 0.01f);
carrierStateMutex.unlock();
return pack(GX40::GIMBAL_CMD_MODE_EULER, nullptr, 0);
}
@ -38,9 +38,9 @@ uint32_t GX40GimbalDriver::setGimabalPos(const AMOV_GIMBAL_POS_T &pos)
uint32_t GX40GimbalDriver::setGimabalSpeed(const AMOV_GIMBAL_POS_T &speed)
{
carrierStateMutex.lock();
targetPos[0] = (int16_t)(speed.roll / 0.1f);
targetPos[0] = (int16_t)(-speed.roll / 0.1f);
targetPos[1] = (int16_t)(-speed.pitch / 0.1f);
targetPos[2] = (int16_t)(speed.yaw / 0.1f);
targetPos[2] = (int16_t)(-speed.yaw / 0.1f);
carrierStateMutex.unlock();
return pack(GX40::GIMBAL_CMD_MODE_FOLLOW, nullptr, 0);