Merge pull request #206 from HydrogenZp/master

2194555 · web-flow · commit 523bbac0da9d · 2026-02-06T20:44:01.000+08:00
Refactor GimbalConfig structure to improve readability.
diff --git a/rm_gimbal_controllers/include/rm_gimbal_controllers/gimbal_base.h b/rm_gimbal_controllers/include/rm_gimbal_controllers/gimbal_base.h
@@ -61,7 +61,9 @@ namespace rm_gimbal_controllers
 {
 struct GimbalConfig
 {
-  double yaw_k_v_, pitch_k_v_, chassis_comp_a_, chassis_comp_b_, chassis_comp_c_, chassis_comp_d_;
+  double yaw_k_v_, pitch_k_v_;
+  double chassis_comp_a_, chassis_comp_b_, chassis_comp_c_,
+      chassis_comp_d_;  // sine wave compensation, a * sin(b * chassis_angular_z + c) + d
   double accel_pitch_{}, accel_yaw_{};
 };
 

Original file line number	Diff line number	Diff line change
`@@ -61,7 +61,9 @@ namespace rm_gimbal_controllers`
`61`	`61`	`{`
`62`	`62`	`struct GimbalConfig`
`63`	`63`	`{`
`64`		`- double yaw_k_v_, pitch_k_v_, chassis_comp_a_, chassis_comp_b_, chassis_comp_c_, chassis_comp_d_;`
	`64`	`+ double yaw_k_v_, pitch_k_v_;`
	`65`	`+ double chassis_comp_a_, chassis_comp_b_, chassis_comp_c_,`
	`66`	`+ chassis_comp_d_; // sine wave compensation, a * sin(b * chassis_angular_z + c) + d`
`65`	`67`	`double accel_pitch_{}, accel_yaw_{};`
`66`	`68`	`};`
`67`	`69`