robofish/rm_balance
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fix x补偿

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Robofish 2026-03-15 14:01:48 +08:00
parent bef9394790
commit 2ba7d879b0
1 changed files with 1 additions and 1 deletions
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2
User/module/balance_chassis.c
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@ -817,7 +817,7 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
.d_theta = 0.0f, .d_theta = 0.0f,
.phi = 0.0f+c->param->lqr_offset.phi, .phi = 0.0f+c->param->lqr_offset.phi,
.d_phi = 0.0f, .d_phi = 0.0f,
.x = c->chassis_state.target_x+c->param->lqr_offset.x + leg_x_comp, .x = c->chassis_state.target_x-c->param->lqr_offset.x + leg_x_comp,
.d_x = c->chassis_state.target_velocity_x, .d_x = c->chassis_state.target_velocity_x,
}; };