From 85c698e7e60b811929ba86ef7c4888a515d353e6 Mon Sep 17 00:00:00 2001 From: Robofish <1683502971@qq.com> Date: Mon, 6 Oct 2025 22:01:27 +0800 Subject: [PATCH] =?UTF-8?q?=E6=94=B9=E6=80=A5=E6=80=A7?= 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 7436a3c..a6375f3 100644 --- a/User/module/balance_chassis.c +++ b/User/module/balance_chassis.c @@ -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], ¤t_state);