调pid

MDK-ARM/DevC.uvoptx

@@ -387,6 +387,11 @@
           <WinNumber>1</WinNumber>
           <ItemText>for_chassis</ItemText>
         </Ww>
+        <Ww>
+          <count>6</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>cfg_qs</ItemText>
+        </Ww>
       </WatchWindow1>
       <MemoryWindow4>
         <Mm>

MDK-ARM/DevC/DevC.hex

@@ -9366,7 +9366,7 @@
 :10492000300000000000000000000000D35C02081E
 :104930000000000000000000000000000000000077
 :10494000000800003000000000000000000000002F
-:104950008FC2753D0000C040020002010202020346
+:104950000AD7233C0000C040020002010202020309
 :104960000204020502100011000000000009000A04
 :1049700000080007CDCCCC3F9A991940CDCC4C3FD4
 :10498000800738048FC2753D0000C040020002015C
@@ -9685,7 +9685,7 @@
 :105D10006C5F63686173736973006374726C5F7343
 :105D2000686F6F74000000006B5202083B5202085B
 :105D3000FDE9010800000000585D02080000002095
-:105D40005804000056090008105F0208580400209B
+:105D40005804000056090008185F02085804002093
 :105D5000D8AB0000F83B0208520001100631AB013D
 :105D6000089D0412B90412E10C1331AC081005AA05
 :105D700001084D182015500400200024F40049A506
@@ -9709,10 +9709,11 @@
 :105E9000063E0AD7233C9851DC21FE724090000553
 :105EA00018EC51383DDCA1C0800B10428FC2F53C8C
 :105EB000CDCCCC3DC42404F041645912010121072A
-:105EC000552A3004E02D9080456405C45CA8058CFB
-:105ED000F2773F3805185C85EC0404216F12035CEF
-:105EE000217C2798415C11E444063E9A99993D48EB
-:105EF00046805C36005B355C1A104012AA013C08F3
-:105F00006740533A285D020C0400000000000000C6
+:105EC000552A3004E02D90804564057C5C10049ACE
+:105ED0009919D80619C05C0623405CA8058CF27796
+:105EE0003F3805185C85EC0404216F12035C217CAB
+:105EF0002798415C194044063E9A99993D4846804E
+:105F00005C36005B355C1A104012AA013C08674001
+:085F1000533A285D020C040065
 :040000050800018965
 :00000001FF

User/module/config.c

@@ -268,8 +268,8 @@ static const Config_RobotParam_t param_hero = {
         .range = M_2PI,
       }, {
         /* GIMBAL_PID_PIT_OMEGA_IDX */
-        .k = 0.25f,
-        .p = 1.0f,
+        .k = 0.6f,
+        .p = 1.5f,
         .i = 0.0f,
         .d = 0.0f,
         .i_limit = 1.0f,
@@ -278,7 +278,7 @@ static const Config_RobotParam_t param_hero = {
         .range = -1.0f,
       }, {
         /* GIMBAL_PID_PIT_ANGLE_IDX */
-        .k = 2.0f,
+        .k = 3.0f,
         .p = 5.0f,
         .i = 2.5f,
         .d = 0.0f,
@@ -357,7 +357,7 @@ static const Config_RobotParam_t param_hero = {
 
 static const Config_PilotCfg_t cfg_qs = {
   .param = {
-		.sens_mouse = 0.06f,
+		.sens_mouse = 0.01f,
 		.sens_rc = 6.0f,
     .map = {
       .key_map[CMD_BEHAVIOR_FORE] = {CMD_ACTIVE_PRESSED, CMD_KEY_W},