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Robofish 2025-10-07 00:43:40 +08:00
parent 85c698e7e6
commit 1184b2d532
1 changed files with 12 additions and 12 deletions
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24
User/module/config.c
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@ -254,18 +254,18 @@ Config_RobotParam_t robot_config = {
}
},
.lqr_gains = {
.k11_coeff = { -2.018567892252635e+02f, 2.443886947748371e+02f, -1.170514252719224e+02f, 1.756967283355012e+00f }, // theta
.k12_coeff = { 5.755541993064226e+00f, -2.330435203830081e+00f, -5.839389482510768e+00f, 3.102177559173085e-01f }, // d_theta
.k13_coeff = { -4.626648375801587e+01f, 4.957163915561897e+01f, -1.892978626686148e+01f, 1.163361730642856e+00f }, // x
.k14_coeff = { -6.133244696547617e+01f, 6.581150547694307e+01f, -2.562467010643359e+01f, 1.546359441777505e+00f }, // d_x
.k15_coeff = { -9.787512606327831e-01f, 8.581307530201126e+00f, -7.593138673503293e+00f, 1.797419370480695e+00f }, // phi
.k16_coeff = { 2.873430467178664e+00f, -8.356289550331172e-01f, -1.159458299556627e+00f, 5.473036343381187e-01f }, // d_phi
.k21_coeff = { 4.048940262085570e+02f, -3.365968455386673e+02f, 6.490322687755379e+01f, 1.009032151585340e+01f }, // theta
.k22_coeff = { 3.731821338634553e+01f, -3.863396990944306e+01f, 1.309004485801674e+01f, -8.491362495876140e-02f }, // d_theta
.k23_coeff = { 3.197848557628166e+01f, -1.613497787175245e+01f, -5.139546674944345e+00f, 4.089512188250406e+00f }, // x
.k24_coeff = { 4.042762833518352e+01f, -2.015511550072881e+01f, -6.901438674565010e+00f, 5.459259288213627e+00f }, // d_x
.k25_coeff = { 9.671666382924865e+01f, -1.007923006268712e+02f, 3.656525147129298e+01f, -7.438566326110798e-01f }, // phi
.k26_coeff = { 2.324856410306975e+01f, -2.529653580362136e+01f, 9.749203865654970e+00f, -5.110687534172851e-01f }, // d_phi
.k11_coeff = { -1.508572585852218e+02f, 1.764949368139731e+02f, -9.850368126414553e+01f, -1.786139736968997e+00f }, // theta
.k12_coeff = { 6.466280284100411e+00f, -6.582699834130516e+00f, -7.131858380770703e+00f, -2.414590752579311e-01f }, // d_theta
.k13_coeff = { -7.182568574598301e+01f, 7.405968297046749e+01f, -2.690651220502175e+01f, -1.029850390463813e-01f }, // x
.k14_coeff = { -7.645548919162933e+01f, 7.988837668034076e+01f, -3.105733981791483e+01f, -4.296847184537235e-01f }, // d_x
.k15_coeff = { -9.403058188674812e+00f, 2.314767704216332e+01f, -1.651965553704901e+01f, 3.907902082528794e+00f }, // phi
.k16_coeff = { -4.023111056381187e+00f, 6.154951770170482e+00f, -3.705537084098432e+00f, 8.264904615264155e-01f }, // d_phi
.k21_coeff = { 1.254775776629822e+02f, -8.971732439896309e+01f, 4.744038360386896e+00f, 1.088353622361175e+01f }, // theta
.k22_coeff = { 1.061139172689013e+01f, -1.011235824540459e+01f, 3.034478775177782e+00f, 1.254920921163464e+00f }, // d_theta
.k23_coeff = { -2.675556963667067e+01f, 4.511381902505539e+01f, -2.800741296230217e+01f, 7.647205920058282e+00f }, // x
.k24_coeff = { -4.067721095665326e+01f, 6.068996620706580e+01f, -3.488384556019462e+01f, 9.374136714284193e+00f }, // d_x
.k25_coeff = { 7.359316334738203e+01f, -7.896223244854855e+01f, 2.961892943386949e+01f, 4.406632136721399e+00f }, // phi
.k26_coeff = { 1.624843000878248e+01f, -1.680831323767654e+01f, 6.018754311678180e+00f, 2.337719500754984e-01f }, // d_phi
},
.virtual_chassis_param = {