2号机器人与1号区别：倾角仪角度差180度，压力传感器默认值+1

Core/BASE/Src/MSP/msp_K1061DC.c

@@ -66,6 +66,7 @@ static void decode_K1061DC(uint8_t *buffer, uint16_t length)
 			float pressure_value = (current_uA - 12000) / 80.0;
 			if (pressure != NULL) {
 				*pressure = pressure_value;
+				*pressure = *pressure +1;//补偿开机默认值（-1左右）
 			}
 			// 可选: 更新硬件错误状态（通信成功）
 			 HardWareErrorController->Set_PCOMHardWare(HardWareErrorController, "K1061DC", 1);

Core/BASE/Src/MSP/msp_TL720D.c

@@ -193,7 +193,9 @@ static void decode_TL720D(uint8_t *buffer, uint16_t length)
 //		*RobotAngle = SP_MSP_RF_TL720D_Parameters_In->RF_Angle_Roll;
 
 		//水平向左为0°，转换为竖直向上为0°;
-		*RobotAngle = changeAngle_LeftZerotoUpZero(SP_MSP_RF_TL720D_Parameters_In->RF_Angle_Roll);
+		*RobotAngle = changeAngle_LeftZerotoUpZero(SP_MSP_RF_TL720D_Parameters_In->RF_Angle_Roll);//1号机器人
+		//水平向右左为0°，转换为竖直向上为0°;
+		*RobotAngle = *RobotAngle * -1;// 2号
 
 		//Is_TL720_Updating_Flag=true;
 		 HardWareErrorController->Set_PCOMHardWare(HardWareErrorController,"TL720D",1);

Debug/Core/BASE/Src/MSP/msp_K1061DC.su

@@ -1,3 +1,3 @@
 ../Core/BASE/Src/MSP/msp_K1061DC.c:32:6:K1061DC_intialize	24	static
 ../Core/BASE/Src/MSP/msp_K1061DC.c:48:13:decode_K1061DC	40	static
-../Core/BASE/Src/MSP/msp_K1061DC.c:80:13:reading_K1061DC_Task	24	static
+../Core/BASE/Src/MSP/msp_K1061DC.c:81:13:reading_K1061DC_Task	24	static

Debug/Core/BASE/Src/MSP/msp_TL720D.su

@@ -3,5 +3,5 @@
 ../Core/BASE/Src/MSP/msp_TL720D.c:97:13:reading_Task_DDM360B	32	static
 ../Core/BASE/Src/MSP/msp_TL720D.c:124:13:reading_Task_TL720D	32	static
 ../Core/BASE/Src/MSP/msp_TL720D.c:163:13:decode_TL720D	48	static
-../Core/BASE/Src/MSP/msp_TL720D.c:210:12:changeAngle_LeftZerotoUpZero	24	static
+../Core/BASE/Src/MSP/msp_TL720D.c:211:12:changeAngle_LeftZerotoUpZero	24	static
-../Core/BASE/Src/MSP/msp_TL720D.c:223:16:getDeci	32	static
+../Core/BASE/Src/MSP/msp_TL720D.c:224:16:getDeci	32	static