From 513254e56fd38f86df484bd79a967f6b1c4ad72a Mon Sep 17 00:00:00 2001
From: Robofish <1683502971@qq.com>
Date: Sun, 15 Mar 2026 18:42:50 +0800
Subject: [PATCH] =?UTF-8?q?fix=20=E6=96=B9=E5=90=91?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 User/module/balance_chassis.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/User/module/balance_chassis.c b/User/module/balance_chassis.c
index fe5873e..5c45b69 100644
--- a/User/module/balance_chassis.c
+++ b/User/module/balance_chassis.c
@@ -771,7 +771,7 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
     float gimbal_offset = c->feedback.yaw.rotor_abs_angle - c->param->mech.mech_zero_yaw;
     float world_vx = c_cmd->move_vec.vx * c->param->rotor_ctrl.max_trans_speed;
     float world_vy = c_cmd->move_vec.vy * c->param->rotor_ctrl.max_trans_speed;
-    c->chassis_state.target_velocity_x = world_vx * sinf(gimbal_offset) - world_vy * cosf(gimbal_offset);
+    c->chassis_state.target_velocity_x = -world_vx * sinf(gimbal_offset) + world_vy * cosf(gimbal_offset);
     c->chassis_state.last_target_velocity_x = c->chassis_state.target_velocity_x;
     c->chassis_state.target_x += c->chassis_state.target_velocity_x * c->dt;
   } else {