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/simulator.py | 9 +++++----
1 files changed, 5 insertions(+), 4 deletions(-)
diff --git a/python/hitl/simulator.py b/python/hitl/simulator.py
index 5890bd2..aa2c66b 100644
--- a/python/hitl/simulator.py
+++ b/python/hitl/simulator.py
@@ -310,7 +310,6 @@
frame, gps_time_s = self._build_nav_frame()
if frame:
self.uart2.write(frame)
- self._log_binary("PY->STM32 UART2 IM23A_NAV", frame, gps_time_s=gps_time_s, source_rank=0)
self._sleep_remaining(start, period)
def _loop_imu(self):
@@ -320,7 +319,6 @@
frame, gps_time_s = self._build_imu_frame()
if frame:
self.uart2.write(frame)
- self._log_binary("PY->STM32 UART2 IM23A_IMU", frame, gps_time_s=gps_time_s, source_rank=0)
self._sleep_remaining(start, period)
def _loop_control(self):
@@ -396,7 +394,10 @@
def _build_nav_frame(self) -> tuple[bytes | None, float]:
state, timestamp = self._snapshot()
lat, lon, alt = geo.enu_to_lla(state.east, state.north, state.up, self.origin)
- heading_nav = geo.heading_math_to_nav(state.heading)
+ heading_nav_deg = geo.heading_math_to_nav(state.heading)
+ # 灏嗗鑸潗鏍囩郴瑙掑害锛�0-360搴︼級杞崲涓哄姬搴︼紙-蟺鍒跋�锛夛紝0搴︽鍖楀搴�0寮у害
+ # 0掳(姝ｅ寳)鈫�0rad, 90掳(姝ｄ笢)鈫捪�/2rad, 180掳(姝ｅ崡)鈫捪�rad, 270掳(姝ｈタ)鈫�-蟺/2rad
+ heading_nav_rad = math.radians(heading_nav_deg) if heading_nav_deg <= 180.0 else math.radians(heading_nav_deg - 360.0)
gps_time_s = _seconds_of_day(timestamp)
status_flags = int(self.config.position_quality) & 0xFF
frame = build_im23a_nav_frame(
@@ -407,7 +408,7 @@
east_vel=state.east_velocity,
north_vel=state.north_velocity,
up_vel=state.up_velocity,
- heading_deg=heading_nav,
+ heading_rad=heading_nav_rad,
pitch_deg=state.pitch_deg,
roll_deg=state.roll_deg,
accel_bias=(0.0, 0.0, 0.0),
--
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