增加减速过程

.vscode/settings.json

@@ -0,0 +1,12 @@
+{
+    "files.associations": {
+        "full_bridge.h": "c",
+        "ptz_default_value.h": "c",
+        "ptz_header_file.h": "c",
+        "gd32f4xx.h": "c",
+        "ptz_type_select.h": "c",
+        "l6235d.h": "c",
+        "service_presetbitscan.h": "c",
+        "device_adc_collect.h": "c"
+    }
+}

APP/Common/ptz_default_value.h

@@ -73,11 +73,11 @@
 #ifdef PTZ_MEDIUM_WORM_L6235D_AS5047D
 ///*******************************标准云台******************************/
        ///水平电机减速比
-      #define PTZ_HORI_MOTOR_RATIO    25.0//(25.0 * 1.5)//20
+      #define PTZ_HORI_MOTOR_RATIO    3.0//(25.0 * 1.5)//20
       ///水平大齿轮减速比
       #define PTZ_HORI_BIG_GEAR_RATIO 80.0//62.0
       ///水平总减速比
-      #define PTZ_HORI_RATIO          2000.0//2325//1240.0
+      #define PTZ_HORI_RATIO          240.0//2325//1240.0
       ///水平电机调速模拟电压最大值
       #define PTZ_HORI_VR_MAX         1999
       ///水平电机调速模拟电压最小值
@@ -89,11 +89,11 @@
       ///水平电机最小转速
       #define PTZ_HORI_MOTOR_MIN_SPEED   400.0//600.0
       ///水平云台最大转速
-      #define PTZ_HORI_MAX_SPEED         1.5//1.29//2.4
+      #define PTZ_HORI_MAX_SPEED         12.5//1.29//2.4
       ///水平云台最小转速
-      #define PTZ_HORI_MIN_SPEED         0.2//0.3//0.26//0.4
+      #define PTZ_HORI_MIN_SPEED         1.67//0.3//0.26//0.4
       ///水平云台默认最佳速度
-      #define PTZ_HORI_BEST_SPEED        1.2//2.0
+      #define PTZ_HORI_BEST_SPEED        9.0//2.0
 
       /**********************************************************/
 
@@ -116,7 +116,7 @@
       ///垂直云台最大转速
       #define PTZ_VERT_MAX_SPEED         0.5//0.74//2.7
       ///垂直云台最小转速
-      #define PTZ_VERT_MIN_SPEED         0.07//0.1//0.15//0.5
+      #define PTZ_VERT_MIN_SPEED         0.067//0.1//0.15//0.5
       ///垂直云台默认最佳速度
       #define PTZ_VERT_BEST_SPEED        0.4//0.7//2.0 
 

APP/Device/Device_rotate/rotate_bldc.c

@@ -14,6 +14,65 @@ static BSP_OS_SEM ptz_vert_stop_mutex;
 static char ptz_hori_stop_count;//水平停止计数，防止多次停止多次延时
 static char ptz_vert_stop_count;//垂直停止计数，防止多次停止多次延时
 
+/* 水平停止转动，减速阶梯和切换时间 */
+#define hori_stop_step 0.2f
+#define hori_stop_time 1
+
+/* 水平减速，减速阶梯和切换时间 */
+#define hori_retard_step 0.2f
+#define hori_retard_time 2
+
+
+/**
+ * 水平减速过程
+ * 
+ * 
+*/
+void ptz_hori_deceleration_process(float step, unsigned char time)
+{
+    float temp = g_ptz.hori_speed_actual;
+    for (; ; ) {
+        temp -= step;
+        g_ptz.hori_speed_set = temp;
+        if (temp < PTZ_HORI_MIN_SPEED) {
+            break;
+        }
+        OSTimeDlyHMSM(0u, 0u, 0u, time);
+    }
+}
+
+
+/* 垂直停止转动，减速阶梯和切换时间 */
+#define vert_stop_step 1.0f
+#define vert_stop_time 1
+
+/* 垂直减速，减速阶梯和切换时间 */
+#define vert_retard_step 0.1f
+#define vert_retard_time 100
+
+/* 垂直减速，俯仰极限位置 */
+#define vert_utmost_step 20.0f
+#define vert_utmost_time 1
+
+/**
+ * 垂直减速过程
+ * 
+ * 
+*/
+void ptz_vert_deceleration_process(float step, unsigned char time)
+{
+    float temp = g_ptz.vert_speed_actual;
+    for (; ; ) {
+        temp -= step;
+        g_ptz.vert_angle_set = temp;
+        if (temp < PTZ_HORI_MIN_SPEED) {
+            break;
+        }
+        OSTimeDlyHMSM(0u, 0u, 0u, time);
+    }
+}
+
+
 void ptz_sem_post_stop_mutex()//释放云台启停共享资源锁
 {
   BSP_OS_SemPost(&ptz_hori_stop_mutex);
@@ -54,6 +113,9 @@ void ptz_hori_start(char direction, float speed)
 void ptz_hori_stop(unsigned short int time)
 {
   BSP_OS_SemWait(&ptz_hori_stop_mutex, 0u);
+
+    ptz_hori_deceleration_process(hori_stop_step, hori_stop_time);
+
   //停止电机
   g_ptz.hori_start_stop_set = PTZ_HORI_STOP;
   g_ptz.hori_start_stop_actual = g_ptz.hori_start_stop_set;
@@ -120,6 +182,11 @@ void ptz_vert_start(char direction, float speed)
 void ptz_vert_stop(unsigned short int time)
 {
   BSP_OS_SemWait(&ptz_vert_stop_mutex, 0u);
+
+    if (time != PTZ_VERT_STOP_TIME) {
+        ptz_vert_deceleration_process(vert_stop_step, vert_stop_time);
+    }
+
   if(g_ptz.vert_start_stop_set == PTZ_VERT_START)
   {
     //停止电机
@@ -273,6 +340,7 @@ static char ptz_hori_rotate_monitor_task()
             if(fabs(g_ptz.hori_angle_actual - g_ptz.hori_rotate_plan.stop_near_angle) <= 
                PTZ_HORI_MIN_SPEED_ANGLE)
             {
+                ptz_hori_deceleration_process(hori_retard_step, hori_retard_time);
                g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
             }
           }
@@ -281,6 +349,7 @@ static char ptz_hori_rotate_monitor_task()
             if((fabs(360.0 - g_ptz.hori_rotate_plan.stop_near_angle) + g_ptz.hori_angle_actual) <=
                PTZ_HORI_MIN_SPEED_ANGLE)
             {
+                ptz_hori_deceleration_process(hori_retard_step, hori_retard_time);
               g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
             }
           }
@@ -292,6 +361,7 @@ static char ptz_hori_rotate_monitor_task()
             if(fabs(g_ptz.hori_angle_actual - g_ptz.hori_rotate_plan.stop_near_angle) <= 
                PTZ_HORI_MIN_SPEED_ANGLE)
             {
+                ptz_hori_deceleration_process(hori_retard_step, hori_retard_time);
               g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
             }
           }
@@ -300,6 +370,7 @@ static char ptz_hori_rotate_monitor_task()
             if((fabs(360.0 - g_ptz.hori_angle_actual) + g_ptz.hori_rotate_plan.stop_near_angle) <= 
                PTZ_HORI_MIN_SPEED_ANGLE)
             {
+                ptz_hori_deceleration_process(hori_retard_step, hori_retard_time);
               g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
             }
           }
@@ -404,6 +475,7 @@ static char ptz_hori_rotate_monitor_task()
             if(fabs(g_ptz.hori_angle_actual - g_ptz.hori_rotate_plan.stop_near_angle) <= 
                PTZ_HORI_MIN_SPEED_ANGLE)
             {  
+                ptz_hori_deceleration_process(hori_retard_step, hori_retard_time);
                g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
             }
           }
@@ -412,6 +484,7 @@ static char ptz_hori_rotate_monitor_task()
             if((fabs(360.0 - g_ptz.hori_rotate_plan.stop_near_angle) + g_ptz.hori_angle_actual) <=
                PTZ_HORI_MIN_SPEED_ANGLE)
             {
+                ptz_hori_deceleration_process(hori_retard_step, hori_retard_time);
               g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
             }
           }
@@ -423,6 +496,7 @@ static char ptz_hori_rotate_monitor_task()
             if(fabs(g_ptz.hori_angle_actual - g_ptz.hori_rotate_plan.stop_near_angle) <= 
                PTZ_HORI_MIN_SPEED_ANGLE)
             {
+                ptz_hori_deceleration_process(hori_retard_step, hori_retard_time);
               g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
             }
           }
@@ -431,6 +505,7 @@ static char ptz_hori_rotate_monitor_task()
             if((fabs(360.0 - g_ptz.hori_angle_actual) + g_ptz.hori_rotate_plan.stop_near_angle) <= 
                PTZ_HORI_MIN_SPEED_ANGLE)
             {
+                ptz_hori_deceleration_process(hori_retard_step, hori_retard_time);
               g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
             }
           }
@@ -443,6 +518,7 @@ static char ptz_hori_rotate_monitor_task()
       break;
     
     case PTZ_HORI_DEC_BRAKE_A://减速刹车
+                ptz_hori_deceleration_process(hori_retard_step, hori_retard_time);
       g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
       g_ptz.hori_rotate_monitor_switch = PTZ_HORI_DEC_BRAKE_B;
       k = 0;
@@ -507,6 +583,7 @@ static char ptz_hori_rotate_monitor_task()
             if(fabs(g_ptz.hori_angle_actual - g_ptz.hori_rotate_plan.stop_near_angle) <= 
                PTZ_HORI_MIN_SPEED_ANGLE)
             {
+                ptz_hori_deceleration_process(hori_retard_step, hori_retard_time);
                g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
             }
           }
@@ -515,6 +592,7 @@ static char ptz_hori_rotate_monitor_task()
             if((fabs(360.0 - g_ptz.hori_rotate_plan.stop_near_angle) + g_ptz.hori_angle_actual) <=
                PTZ_HORI_MIN_SPEED_ANGLE)
             {
+                ptz_hori_deceleration_process(hori_retard_step, hori_retard_time);
               g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
             }
           }
@@ -526,6 +604,7 @@ static char ptz_hori_rotate_monitor_task()
             if(fabs(g_ptz.hori_angle_actual - g_ptz.hori_rotate_plan.stop_near_angle) <= 
                PTZ_HORI_MIN_SPEED_ANGLE)
             {
+                ptz_hori_deceleration_process(hori_retard_step, hori_retard_time);
               g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
             }
           }
@@ -534,6 +613,7 @@ static char ptz_hori_rotate_monitor_task()
             if((fabs(360.0 - g_ptz.hori_angle_actual) + g_ptz.hori_rotate_plan.stop_near_angle) <= 
                PTZ_HORI_MIN_SPEED_ANGLE)
             {
+                ptz_hori_deceleration_process(hori_retard_step, hori_retard_time);
               g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
             }
           }
@@ -582,6 +662,7 @@ static char ptz_hori_rotate_monitor_task()
           if(fabs(g_ptz.hori_angle_actual - g_ptz.hori_rotate_plan.stop_near_angle) <= 
              PTZ_HORI_MIN_SPEED_ANGLE)
           {
+                ptz_hori_deceleration_process(hori_retard_step, hori_retard_time);
              g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
           }
         }
@@ -590,6 +671,7 @@ static char ptz_hori_rotate_monitor_task()
           if((fabs(360.0 - g_ptz.hori_rotate_plan.stop_near_angle) + g_ptz.hori_angle_actual) <=
              PTZ_HORI_MIN_SPEED_ANGLE)
           {
+                ptz_hori_deceleration_process(hori_retard_step, hori_retard_time);
             g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
           }
         }
@@ -601,6 +683,7 @@ static char ptz_hori_rotate_monitor_task()
           if(fabs(g_ptz.hori_angle_actual - g_ptz.hori_rotate_plan.stop_near_angle) <= 
              PTZ_HORI_MIN_SPEED_ANGLE)
           {
+                ptz_hori_deceleration_process(hori_retard_step, hori_retard_time);
             g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
           }
         }
@@ -609,6 +692,7 @@ static char ptz_hori_rotate_monitor_task()
           if((fabs(360.0 - g_ptz.hori_angle_actual) + g_ptz.hori_rotate_plan.stop_near_angle) <= 
              PTZ_HORI_MIN_SPEED_ANGLE)
           {
+                ptz_hori_deceleration_process(hori_retard_step, hori_retard_time);
             g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
           }
         }
@@ -656,6 +740,7 @@ static char ptz_hori_rotate_monitor_task()
             if(fabs(g_ptz.hori_angle_actual - g_ptz.hori_rotate_plan.stop_near_angle) <= 
                PTZ_HORI_MIN_SPEED_ANGLE)
             {
+                ptz_hori_deceleration_process(hori_retard_step, hori_retard_time);
                g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
             }
           }
@@ -664,6 +749,7 @@ static char ptz_hori_rotate_monitor_task()
             if((fabs(360.0 - g_ptz.hori_rotate_plan.stop_near_angle) + g_ptz.hori_angle_actual) <=
                PTZ_HORI_MIN_SPEED_ANGLE)
             {
+                ptz_hori_deceleration_process(hori_retard_step, hori_retard_time);
               g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
             }
           }
@@ -675,6 +761,7 @@ static char ptz_hori_rotate_monitor_task()
             if(fabs(g_ptz.hori_angle_actual - g_ptz.hori_rotate_plan.stop_near_angle) <= 
                PTZ_HORI_MIN_SPEED_ANGLE)
             {
+                ptz_hori_deceleration_process(hori_retard_step, hori_retard_time);
               g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
             }
           }
@@ -683,6 +770,7 @@ static char ptz_hori_rotate_monitor_task()
             if((fabs(360.0 - g_ptz.hori_angle_actual) + g_ptz.hori_rotate_plan.stop_near_angle) <= 
                PTZ_HORI_MIN_SPEED_ANGLE)
             {
+                ptz_hori_deceleration_process(hori_retard_step, hori_retard_time);
               g_ptz.hori_speed_set = PTZ_HORI_MIN_SPEED;
             }
           }
@@ -764,6 +852,7 @@ static char ptz_vert_rotate_monitor_task()
         if(fabs(g_ptz.vert_angle_actual - g_ptz.vert_rotate_plan.stop_near_angle) <=
            PTZ_VERT_MIN_SPEED_ANGLE)
         {
+            ptz_vert_deceleration_process(vert_retard_step, vert_retard_time);
           g_ptz.vert_speed_set = PTZ_VERT_MIN_SPEED;
         }
         
@@ -809,6 +898,7 @@ static char ptz_vert_rotate_monitor_task()
       if(fabs(g_ptz.vert_angle_actual - g_ptz.vert_rotate_plan.stop_near_angle) <=
          PTZ_VERT_MIN_SPEED_ANGLE)
       {
+            ptz_vert_deceleration_process(vert_retard_step, vert_retard_time);
         g_ptz.vert_speed_set = PTZ_VERT_MIN_SPEED;
       }
       break;
@@ -875,6 +965,7 @@ static char ptz_vert_rotate_monitor_task()
         if(fabs(g_ptz.vert_angle_actual - g_ptz.vert_rotate_plan.stop_near_angle) <=
            PTZ_VERT_MIN_SPEED_ANGLE)
         {
+            ptz_vert_deceleration_process(vert_retard_step, vert_retard_time);
           g_ptz.vert_speed_set = PTZ_VERT_MIN_SPEED;
         }
         
@@ -909,6 +1000,7 @@ static char ptz_vert_rotate_monitor_task()
       if(fabs(g_ptz.vert_angle_actual - g_ptz.vert_rotate_plan.stop_near_angle) <=
          PTZ_VERT_MIN_SPEED_ANGLE)
       {
+            ptz_vert_deceleration_process(vert_retard_step, vert_retard_time);
         g_ptz.vert_speed_set = PTZ_VERT_MIN_SPEED;
       }
       break;
@@ -924,6 +1016,7 @@ static char ptz_vert_rotate_monitor_task()
       g_ptz.vert_arrive_flag = 0;
       g_ptz.vert_rotate_monitor_switch = 0;
       
+    //   ptz_vert_deceleration_process(vert_utmost_step, vert_utmost_time);
       ptz_vert_stop(PTZ_VERT_STOP_TIME);//停止延时为0
       OSTimeDlyHMSM(0u, 0u, 0u, 5u);
     }
@@ -936,6 +1029,7 @@ static char ptz_vert_rotate_monitor_task()
       g_ptz.vert_arrive_flag = 0;
       g_ptz.vert_rotate_monitor_switch = 0;
       
+    //   ptz_vert_deceleration_process(vert_utmost_step, vert_utmost_time);
       ptz_vert_stop(PTZ_VERT_STOP_TIME);
       OSTimeDlyHMSM(0u, 0u, 0u, 5u);
     }

APP/Device/Device_rotate/rotate_bldc.h

@@ -66,8 +66,8 @@
       #define PTZ_VERT_DIR_STOP      2
 
       ///距离最近刹车点以最小转速运行的距离
-      #define PTZ_HORI_MIN_SPEED_ANGLE  3.0
+      #define PTZ_HORI_MIN_SPEED_ANGLE  12.0
-      #define PTZ_VERT_MIN_SPEED_ANGLE  3.0
+      #define PTZ_VERT_MIN_SPEED_ANGLE  2.0
 
       ///刹车最近距离
       #define PTZ_HORI_STOP_NEAR_DISTANCE    0.01
@@ -77,7 +77,7 @@
       ///刹车最近距离
       #define PTZ_VERT_STOP_NEAR_DISTANCE    0.01
       ///刹车最远距离
-      #define PTZ_VERT_STOP_FAR_DISTANCE     4.0
+      #define PTZ_VERT_STOP_FAR_DISTANCE     3.0
 
       ///云台定位精度，也可用于判断是不是同一个位置
       #define PTZ_HORI_ANGLE_ACCURACY  0.1

APP/Device/Device_speed/speed_to_bldc.h

@@ -80,7 +80,7 @@
       #define PTZ_HORI_PID_HORI_TD       0//0.001//微分系数
 
       #define PTZ_HORI_PID_INPUT_LIMIT   100.0//PID调速输入值限定
-      #define PTZ_HORI_PID_OUTPUT_LIMIT  200.0//PID调速输出值限定，当前输出值和上一次输出值之间的差异
+      #define PTZ_HORI_PID_OUTPUT_LIMIT  80.0//PID调速输出值限定，当前输出值和上一次输出值之间的差异
 
       #define PTZ_VERT_PID_T             30u
       #define PTZ_VERT_PID_VERT_KP       20.0//6//6.0//比例系数
@@ -88,7 +88,7 @@
       #define PTZ_VERT_PID_VERT_TD       0//0.001//微分系数
 
       #define PTZ_VERT_PID_INPUT_LIMIT   100.0//PID调速输入值限定
-      #define PTZ_VERT_PID_OUTPUT_LIMIT  200.0//PID调速输出值限定，当前输出值和上一次输出值之间的差异   
+      #define PTZ_VERT_PID_OUTPUT_LIMIT  100.0//PID调速输出值限定，当前输出值和上一次输出值之间的差异   
 
       #define PTZ_HORI_PID_T_MAX         80//75u//PID调速最大周期
       #define PTZ_VERT_PID_T_MAX         80//75u//PID调速最大周期

APP/Service/service_statusmonitor.c

@@ -13,24 +13,41 @@ static char ptz_temp_volt_current_fault_detect_task()
 {//只报故障，不做响应
   static unsigned short int time_ms;
   
+    static char hori_fault = 0;
+    static char vert_fault = 0;
+
   time_ms ++;
   if(time_ms < 50)
   {
     //轻型云台峰值电流5.4A，
     if(H_ADC_Collect.Phase_curr_V >= PHASE_CURRENT ||H_ADC_Collect.Phase_curr_U >= PHASE_CURRENT ||H_ADC_Collect.Phase_curr_W >= PHASE_CURRENT )
     {//堵转检测，防止电机堵转烧坏，结合电机卡死故障监测，与云台工作电流监测。
-      
+        if (g_ptz.fault_detect.Phase_curr_H != FAULT) {
+            hori_fault++;
+            if (hori_fault > 20) {
                 g_ptz.fault_detect.Phase_curr_H = FAULT;//水平电机相电流过大，报警      
-      
                 ptz_hori_stop(PTZ_HORI_STOP_TIME);
             }
+        }
+    }
+    else {
+        hori_fault = 0;
+    }
+
     if(V_ADC_Collect.Phase_curr_V >= PHASE_CURRENT ||V_ADC_Collect.Phase_curr_U >= PHASE_CURRENT ||V_ADC_Collect.Phase_curr_W >= PHASE_CURRENT )
     {//堵转检测，防止电机堵转烧坏，结合电机卡死故障监测，与云台工作电流监测。
-      
+        if (g_ptz.fault_detect.Phase_curr_V != FAULT) {
+            vert_fault++;
+            if (vert_fault > 20) {
                 g_ptz.fault_detect.Phase_curr_V = FAULT;//垂直电机相电流过大，报警            
-      
                 ptz_vert_stop(PTZ_VERT_STOP_TIME);
             }
+        }
+    }
+    else {
+        vert_fault = 0;
+    }
+
     return 1;
   }
   else

APP/Service/service_statusmonitor.h

@@ -113,7 +113,7 @@
   #define PTZ_HALL_DETECT         30//30
 
   //相电流运行最大值
-  #define PHASE_CURRENT           3.5
+  #define PHASE_CURRENT           4.8
 #endif 
 
 //L6235D涡轮蜗杆重型云台

BSP/Driver/full_bridge/full_bridge.c

@@ -360,21 +360,21 @@ void h_bldc_six_step()
     H_Hall_state.Hall_value = h_hall_senser_value_get();
     if((H_Hall_state.Hall_value <= 6)&&(H_Hall_state.Hall_value >= 1))
     {
-//      if(g_ptz.hori_direction_set == PTZ_HORI_DIR_RIGHT)
-//      {//电机正转- 1
-//        h_six_step_commu[(7-H_Hall_state.Hall_value) -1]();
-//      }else{//电机反转
-//        h_six_step_commu[H_Hall_state.Hall_value -1]();
-//      }
-      //直齿云台转向
         if(g_ptz.hori_direction_set == PTZ_HORI_DIR_RIGHT)
         {//电机正转- 1
-        
-        h_six_step_commu[H_Hall_state.Hall_value -1]();
-      }else{//电机反转
             h_six_step_commu[(7-H_Hall_state.Hall_value) -1]();
-        
+        }else{//电机反转
+            h_six_step_commu[H_Hall_state.Hall_value -1]();
         }
+      //直齿云台转向
+        // if(g_ptz.hori_direction_set == PTZ_HORI_DIR_RIGHT)
+        // {//电机正转- 1
+            
+        //     h_six_step_commu[H_Hall_state.Hall_value -1]();
+        // }else{//电机反转
+        //     h_six_step_commu[(7-H_Hall_state.Hall_value) -1]();
+            
+        // }
       
     }
   }
@@ -401,6 +401,11 @@ void v_bldc_six_step()
         }else{//电机反转
             v_six_step_commu[(7-V_Hall_state.Hall_value) -1]();
         }
+        // if (g_ptz.vert_direction_set == PTZ_VERT_DIR_UP) {//电机正转- 1
+        //     v_six_step_commu[(7-V_Hall_state.Hall_value) -1]();
+        // } else {//电机反转
+        //     v_six_step_commu[V_Hall_state.Hall_value -1]();
+        // }
       
       
 //      if(g_ptz.vert_pid.PidUT_float < 0)

PROJECT/OS2.ewp

@@ -825,7 +825,7 @@
                 </option>
                 <option>
                     <name>IlinkIcfFile</name>
-                    <state>D:\psx\Pan-Tilt\1.software\HY\6.0 MW22-01A\BSP\IAR\GD32F450xE_APP.icf</state>
+                    <state>D:\psx\Pan-Tilt\1.software\HY\6.0 MW22-01A\BSP\IAR\GD32F450xE.icf</state>
                 </option>
                 <option>
                     <name>IlinkIcfFileSlave</name>