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修改了pid

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RB 2025-03-05 16:04:09 +08:00
parent 78712e5918
commit 87f56647b1
3 changed files with 5263 additions and 5265 deletions
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16
User/module/config.c
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@ -248,20 +248,20 @@ static const Config_RobotParam_t param_hero = {
.pid = { .pid = {
{ {
/* GIMBAL_PID_YAW_OMEGA_IDX */ /* GIMBAL_PID_YAW_OMEGA_IDX */
.k = 0.45f, .k = 0.24f,
.p = 1.0f, .p = 1.0f,
.i = 6.0f, .i = 0.5f,
.d = 0.0008f, .d = 0.0f,
.i_limit = 1.0f, .i_limit = 1.0f,
.out_limit = 1.0f, .out_limit = 1.0f,
.d_cutoff_freq = -1.0f, .d_cutoff_freq = -1.0f,
.range = -1.0f, .range = -1.0f,
}, { }, {
/* GIMBAL_PID_YAW_ANGLE_IDX */ /* GIMBAL_PID_YAW_ANGLE_IDX */
.k = 20.0f, .k = 10.0f,
.p = 1.0f, .p = 1.0f,
.i = 0.0f, .i = 0.0f,
.d = 0.0f, .d = 0.05f,
.i_limit = 0.0f, .i_limit = 0.0f,
.out_limit = 10.0f, .out_limit = 10.0f,
.d_cutoff_freq = -1.0f, .d_cutoff_freq = -1.0f,
@ -278,9 +278,9 @@ static const Config_RobotParam_t param_hero = {
.range = -1.0f, .range = -1.0f,
}, { }, {
/* GIMBAL_PID_PIT_ANGLE_IDX */ /* GIMBAL_PID_PIT_ANGLE_IDX */
.k = 12.0f, .k = 2.0f,
.p = 1.0f, .p = 5.0f,
.i = 0.0f, .i = 2.5f,
.d = 0.0f, .d = 0.0f,
.i_limit = 0.0f, .i_limit = 0.0f,
.out_limit = 10.0f, .out_limit = 10.0f,