From 555e6e3747af33835a91606bae704d6fa1582064 Mon Sep 17 00:00:00 2001
From: Robofish <1683502971@qq.com>
Date: Thu, 2 Oct 2025 17:25:47 +0800
Subject: [PATCH] =?UTF-8?q?=E5=A5=BD=E7=94=A8=E7=9A=84=E4=BA=91=E5=8F=B0pi?=
 =?UTF-8?q?d?=
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---
 User/module/config.c | 2 +-
 User/module/gimbal.c | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/User/module/config.c b/User/module/config.c
index 5d63e22..dededbc 100644
--- a/User/module/config.c
+++ b/User/module/config.c
@@ -131,7 +131,7 @@ Config_RobotParam_t robot_config = {
                 .range = -1.0f,
             },
             .pit_angle = {
-                .k = 2.0f,
+                .k = 5.0f,
                 .p = 5.0f,
                 .i = 2.5f,
                 .d = 0.0f,
diff --git a/User/module/gimbal.c b/User/module/gimbal.c
index ac30619..bce9c48 100644
--- a/User/module/gimbal.c
+++ b/User/module/gimbal.c
@@ -239,7 +239,7 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
 void Gimbal_Output(Gimbal_t *g){
     MOTOR_RM_SetOutput(&g->param->pit_motor, g->out.pit);
     MOTOR_MIT_Output_t output = {0};
-    output.torque = g->out.yaw * 6.0f; // 乘以减速比
+    output.torque = g->out.yaw * 5.0f; // 乘以减速比
     output.kd = 0.5f;
     MOTOR_RM_Ctrl(&g->param->pit_motor);
     MOTOR_DM_MITCtrl(&g->param->yaw_motor, &output);