From 0b3cd65b2bb972955de94e499f34ca292e4073e7 Mon Sep 17 00:00:00 2001
From: Robofish <1683502971@qq.com>
Date: Sun, 19 Oct 2025 11:25:16 +0800
Subject: [PATCH] =?UTF-8?q?=E6=94=B9=E5=8F=82=E6=95=B0?=
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---
 User/module/config.c | 28 ++++++++++++++--------------
 1 file changed, 14 insertions(+), 14 deletions(-)

diff --git a/User/module/config.c b/User/module/config.c
index 7baf5df..686c605 100644
--- a/User/module/config.c
+++ b/User/module/config.c
@@ -254,20 +254,20 @@ Config_RobotParam_t robot_config = {
             }
         },
         
-.lqr_gains = {
-    .k11_coeff = { -2.213202553185133e+02f, 2.353939463356143e+02f, -1.057072351438971e+02f, -1.581085937677281e+00f }, // theta
-    .k12_coeff = { -9.181864404672975e+00f, 8.531964722737065e+00f, -9.696625432480346e+00f, -2.388898921230960e-01f },  // d_theta
-    .k13_coeff = { -6.328339397527442e+01f, 6.270159865929592e+01f, -2.133356351416681e+01f, -2.795774497769496e-01f },  // x
-    .k14_coeff = { -7.428160824353201e+01f, 7.371925049068537e+01f, -2.613745545093503e+01f, -5.994101373770330e-01f },  // d_x
-    .k15_coeff = { -6.968934105907989e+01f, 9.229969229361623e+01f, -4.424018428098277e+01f, 8.098181536555296e+00f }, // phi
-    .k16_coeff = { -1.527045508038401e+01f, 2.030548630730375e+01f, -1.009526207086012e+01f, 2.014358176738665e+00f },  // d_phi
-    .k21_coeff = { 6.254476937997669e+01f, 9.037146968574660e+00f, -4.492072460618583e+01f, 1.770766202994207e+01f }, // theta
-    .k22_coeff = { 3.165057029795604e-02f, 7.350960766534424e+00f, -6.597366624137901e+00f, 2.798506180182324e+00f },  // d_theta
-    .k23_coeff = { -5.827814614802593e+01f, 7.789995488757775e+01f, -3.841148024725668e+01f, 8.034534049078013e+00f },  // x
-    .k24_coeff = { -8.937952443465080e+01f, 1.128943502182752e+02f, -5.293642666103645e+01f, 1.073722383888271e+01f },  // d_x
-    .k25_coeff = { 2.478483065877546e+02f, -2.463640234149189e+02f, 8.359617215530402e+01f, 8.324247402653134e+00f }, // phi
-    .k26_coeff = { 6.307211927250707e+01f, -6.266313408748906e+01f, 2.129449351279647e+01f, 9.249265186231070e-01f },  // d_phi
-},
+    .lqr_gains = {
+        .k11_coeff = { -2.213202553185133e+02f, 2.353939463356143e+02f, -1.057072351438971e+02f, -1.581085937677281e+00f }, // theta
+        .k12_coeff = { -9.181864404672975e+00f, 8.531964722737065e+00f, -9.696625432480346e+00f, -2.388898921230960e-01f },  // d_theta
+        .k13_coeff = { -6.328339397527442e+01f, 6.270159865929592e+01f, -2.133356351416681e+01f, -2.795774497769496e-01f },  // x
+        .k14_coeff = { -7.428160824353201e+01f, 7.371925049068537e+01f, -2.613745545093503e+01f, -5.994101373770330e-01f },  // d_x
+        .k15_coeff = { -6.968934105907989e+01f, 9.229969229361623e+01f, -4.424018428098277e+01f, 8.098181536555296e+00f }, // phi
+        .k16_coeff = { -1.527045508038401e+01f, 2.030548630730375e+01f, -1.009526207086012e+01f, 2.014358176738665e+00f },  // d_phi
+        .k21_coeff = { 6.254476937997669e+01f, 9.037146968574660e+00f, -4.492072460618583e+01f, 1.770766202994207e+01f }, // theta
+        .k22_coeff = { 3.165057029795604e-02f, 7.350960766534424e+00f, -6.597366624137901e+00f, 2.798506180182324e+00f },  // d_theta
+        .k23_coeff = { -5.827814614802593e+01f, 7.789995488757775e+01f, -3.841148024725668e+01f, 8.034534049078013e+00f },  // x
+        .k24_coeff = { -8.937952443465080e+01f, 1.128943502182752e+02f, -5.293642666103645e+01f, 1.073722383888271e+01f },  // d_x
+        .k25_coeff = { 2.478483065877546e+02f, -2.463640234149189e+02f, 8.359617215530402e+01f, 8.324247402653134e+00f }, // phi
+        .k26_coeff = { 6.307211927250707e+01f, -6.266313408748906e+01f, 2.129449351279647e+01f, 9.249265186231070e-01f },  // d_phi
+    },
         .theta = 0.0f,
         .x = 0.0f,
         .phi = -0.1f,