From 346cc7d685283df529aadbcf9c156de040ce44f9 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期一, 24 十一月 2025 09:51:48 +0800
Subject: [PATCH] 仿真跑起来了，但是起点转向不太对。
---
STM32H743/APL/motion_control_task.c | 7 ++++++-
1 files changed, 6 insertions(+), 1 deletions(-)
diff --git a/STM32H743/APL/motion_control_task.c b/STM32H743/APL/motion_control_task.c
index f4196d7..a93c5f0 100644
--- a/STM32H743/APL/motion_control_task.c
+++ b/STM32H743/APL/motion_control_task.c
@@ -205,13 +205,18 @@
}
const HIDO_CHAR *stage_label = MotionControl_StageLabel(output.stage);
+ const HIDO_FLOAT *target_ptr = (output.target_valid == HIDO_TRUE) ? output.target_xy : HIDO_NULL;
PythonLink_ReportControl(output.forward_mps,
output.turn_rate,
g_control_freq_hz,
g_last_steering_pwm,
g_last_throttle_pwm,
stage_label,
- g_last_sensor_timestamp_ms);
+ g_last_sensor_timestamp_ms,
+ output.pos_enu,
+ output.heading_deg,
+ output.target_heading_deg,
+ target_ptr);
if ((now - g_last_state_report_ms) >= 1000U)
{
g_last_state_report_ms = now;
--
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