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垂直速度计算错误，更改

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REASEARCHER\18383 2025-08-13 13:29:57 +08:00
parent 5985b7f56f
commit ec5dd9abe4
2 changed files with 21 additions and 3 deletions
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18
.vscode/iar-vsc.json vendored Normal file
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@ -0,0 +1,18 @@
{
"workspace": {
"path": "${workspaceFolder}\\Hyt2\\PROJECT\\OS2.eww"
},
"workspaces": {
"${workspaceFolder}\\Hyt2\\PROJECT\\OS2.eww": {
"configs": {
"${workspaceFolder}\\Hyt2\\PROJECT\\OS2.ewp": "Debug"
},
"selected": {
"path": "${workspaceFolder}\\Hyt2\\PROJECT\\OS2.ewp"
}
}
},
"workbench": {
"path": "D:\\IAR"
}
}

6
Hyt2/APP/Device/Device_speed/speed_to_bldc.c
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@ -1211,13 +1211,13 @@ static void ptz_vert_pid_task()
}
lastTime_vert = time_vert;
if(g_ptz.hori_pid.hall_h123_count >= 2)
if(g_ptz.vert_pid.hall_h123_count >= 2)
{
// g_ptz.hori_pid.hall_h123_motor_speed =
// 60000.0 * (float)(g_ptz.hori_pid.hall_h123_count/* - 1*/) /
// (float)PTZ_VERT_PID_T / PTZ_HORI_ONE_CYCLE_HALL_NUM;
g_ptz.hori_pid.hall_h123_motor_speed =
60000.0 * (float)(g_ptz.hori_pid.hall_h123_count/* - 1*/) /
g_ptz.vert_pid.hall_h123_motor_speed =
60000.0 * (float)(g_ptz.vert_pid.hall_h123_count/* - 1*/) /
(float)vertTime / PTZ_HORI_ONE_CYCLE_HALL_NUM;
}