robofish/rm_balance
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改急性

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Robofish 2025-10-06 22:01:27 +08:00
parent df420f0324
commit 85c698e7e6
1 changed files with 1 additions and 1 deletions
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User/module/balance_chassis.c
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@ -297,7 +297,7 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
current_state.d_theta = c->vmc_[0].leg.d_theta;
current_state.x = xhat;
current_state.d_x = x_dot_hat;
current_state.phi = -c->feedback.imu.euler.rol;
current_state.phi = c->feedback.imu.euler.rol;
current_state.d_phi = c->feedback.imu.gyro.y;
LQR_UpdateState(&c->lqr[0], &current_state);