From 567085ead3f6adaabd884f16ab4b17c62e8f0403 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期日, 21 十二月 2025 22:28:09 +0800
Subject: [PATCH] OTA升级功能调通，准备增加boot的代码
---
python/hitl/dynamics.py | 14 +++++---------
1 files changed, 5 insertions(+), 9 deletions(-)
diff --git a/python/hitl/dynamics.py b/python/hitl/dynamics.py
index 3a69d05..0c33731 100644
--- a/python/hitl/dynamics.py
+++ b/python/hitl/dynamics.py
@@ -83,11 +83,9 @@
self.state.linear_velocity += dv
# 绗﹀彿瀹氫箟锛�
- # - 缃楃洏鏂瑰悜锛氳礋鐨勬帶鍒朵俊鍙� 鈫� 閫嗘椂閽堟棆杞紝姝ｇ殑鎺у埗淇″彿 鈫� 椤烘椂閽堟棆杞�
+ # - MCU宸蹭慨澶嶆柟鍚戝弽杞棶棰橈紙鍘绘帀浜嗛敊璇殑鍙栧弽锛夛紝鐜板湪鐩存帴浣跨敤MCU涓嬪彂鐨勮閫熷害
# - 鏁板鍧愭爣绯伙細涓滀负0掳锛岄�嗘椂閽堜负姝ｏ紙CCW>0锛�
- # - 鎵�浠ワ細璐熺殑turn_rate锛堥�嗘椂閽堬級鈫� angular_velocity涓烘锛屾鐨則urn_rate锛堥『鏃堕拡锛夆啋 angular_velocity涓鸿礋
- # - 闇�瑕佸彇鍙嶏細angular_velocity = -target_angular
- target_angular_math = -target_angular # 鍙栧弽浠ュ尮閰嶆暟瀛﹀潗鏍囩郴
+ target_angular_math = target_angular # 鐩存帴浣跨敤锛屼笉鍐嶅彇鍙�
dw = target_angular_math - self.state.angular_velocity
max_dw = self.max_angular_accel * dt
@@ -123,14 +121,12 @@
self.state.pitch_deg = math.degrees(math.atan2(ax_g, 1.0))
self.state.roll_deg = math.degrees(math.atan2(-ay_g, 1.0))
- # 鎯锛圛MU锛夌鍙峰畾涔夛細椤烘椂閽堟锛岄�嗘椂閽堣礋锛堜粠涓婂線涓嬬湅Z杞达紝鍙虫墜铻烘棆瀹氬垯锛�
- # 鍦ㄦ暟瀛﹀潗鏍囩郴涓細椤烘椂閽� 鈫� angular_velocity涓鸿礋锛岄�嗘椂閽� 鈫� angular_velocity涓烘
- # 鎵�浠ワ細GyroZ = -angular_velocity锛堝彇鍙嶄互鍖归厤鎯瀹氫箟锛�
- # 渚嬪锛歛ngular_velocity = -0.8 rad/s锛堥『鏃堕拡锛夆啋 GyroZ = 0.8 deg/s锛堟鍊硷紝椤烘椂閽堬級
+ # 鎯锛圛MU锛夌鍙峰畾涔夛細涓嶮CU鏂瑰悜瀹氫箟淇濇寔涓�鑷达紝涓嶅啀鍙栧弽
+ # MCU宸蹭慨澶嶆柟鍚戝弽杞棶棰橈紝鐜板湪鐩存帴浣跨敤angular_velocity
self.state.gyro_deg_s = (
self._rng.gauss(0.0, 0.01),
self._rng.gauss(0.0, 0.01),
- -math.degrees(self.state.angular_velocity) + self._rng.gauss(0.0, 0.1), # 鍙栧弽浠ュ尮閰嶆儻瀵煎畾涔�
+ math.degrees(self.state.angular_velocity) + self._rng.gauss(0.0, 0.1), # 鐩存帴浣跨敤锛屼笉鍐嶅彇鍙�
)
temp_drift = self._rng.gauss(0.0, 0.0005)
--
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