From a4a8bb6ccb58c874f9382557c2cd7eb8edf9316c Mon Sep 17 00:00:00 2001
From: Robofish <1683502971@qq.com>
Date: Mon, 12 Jan 2026 03:18:02 +0800
Subject: [PATCH] =?UTF-8?q?=E6=95=B4=E7=90=86?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 MDK-ARM/CtrBoard-H7_ALL.uvoptx                |    44 +-
 MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.axf   |   Bin 874932 -> 938156 bytes
 MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.hex   | 16890 ++++++++--------
 User/module/balance_chassis.c                 |   883 +-
 User/module/balance_chassis.h                 |    22 +-
 User/module/config.c                          |    44 +-
 User/module/gimbal.c                          |    22 +-
 User/module/shoot.c                           |     2 +-
 User/task/ctrl_gimbal.c                       |     4 +-
 User/task/init.c                              |     2 +-
 .../balance/series_legs/get_k_length.m        |     8 +-
 11 files changed, 9284 insertions(+), 8637 deletions(-)

diff --git a/MDK-ARM/CtrBoard-H7_ALL.uvoptx b/MDK-ARM/CtrBoard-H7_ALL.uvoptx
index 6e3e93d..15e108a 100644
--- a/MDK-ARM/CtrBoard-H7_ALL.uvoptx
+++ b/MDK-ARM/CtrBoard-H7_ALL.uvoptx
@@ -135,7 +135,7 @@
         <SetRegEntry>
           <Number>0</Number>
           <Key>CMSIS_AGDI</Key>
-          <Name>-X"Any" -UAny -O206 -S9 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(6BA02477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC8000 -FN1 -FF0STM32H72x-73x_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32H723VGTx$CMSIS\Flash\STM32H72x-73x_1024.FLM)</Name>
+          <Name>-X"Any" -UAny -O206 -S8 -C0 -P00000000 -N00("ARM CoreSight SW-DP") -D00(6BA02477) -L00(0) -TO65554 -TC10000000 -TT10000000 -TP20 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC8000 -FN1 -FF0STM32H72x-73x_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32H723VGTx$CMSIS\Flash\STM32H72x-73x_1024.FLM)</Name>
         </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
@@ -208,46 +208,6 @@
           <WinNumber>1</WinNumber>
           <ItemText>gimbal</ItemText>
         </Ww>
-        <Ww>
-          <count>4</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>GIMBAL_IMU_Update</ItemText>
-        </Ww>
-        <Ww>
-          <count>5</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>rx_msg</ItemText>
-        </Ww>
-        <Ww>
-          <count>6</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>count</ItemText>
-        </Ww>
-        <Ww>
-          <count>7</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>rx_msg</ItemText>
-        </Ww>
-        <Ww>
-          <count>8</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>can2_debug</ItemText>
-        </Ww>
-        <Ww>
-          <count>9</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>fdcan2_init_debug</ItemText>
-        </Ww>
-        <Ww>
-          <count>10</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>rx_debug</ItemText>
-        </Ww>
-        <Ww>
-          <count>11</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>cmd_for_gimbal</ItemText>
-        </Ww>
       </WatchWindow1>
       <Tracepoint>
         <THDelay>0</THDelay>
@@ -296,7 +256,7 @@
         <EnableFlashSeq>1</EnableFlashSeq>
         <EnableLog>0</EnableLog>
         <Protocol>2</Protocol>
-        <DbgClock>5000000</DbgClock>
+        <DbgClock>10000000</DbgClock>
       </DebugDescription>
     </TargetOption>
   </Target>
diff --git a/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.axf b/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.axf
index b92ecb0a5d15994fcb00cf4af6b2d2a488f6d852..9d6c6bc1aea434655e37388797102d4e24695afa 100644
GIT binary patch
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diff --git a/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.hex b/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.hex
index 19f7296..af5db12 100644
--- a/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.hex
+++ b/MDK-ARM/CtrBoard-H7_ALL/CtrBoard-H7_ALL.hex
@@ -1,29 +1,29 @@
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diff --git a/User/module/balance_chassis.c b/User/module/balance_chassis.c
index e49581f..96d0c24 100644
--- a/User/module/balance_chassis.c
+++ b/User/module/balance_chassis.c
@@ -1,3 +1,8 @@
+/**
+ * @file balance_chassis.c
+ * @brief 平衡底盘控制模块
+ */
+
 #include "module/balance_chassis.h"
 #include "bsp/can.h"
 #include "bsp/time.h"
@@ -9,61 +14,70 @@
 #include <stddef.h>
 #include <string.h>
 
+/* Private defines ---------------------------------------------------------- */
+#define LIMIT(x, min, max)  ((x) < (min) ? (min) : ((x) > (max) ? (max) : (x)))
+
+#define WHEEL_RADIUS        0.068f   /* 轮子半径 (m) */
+#define MAX_ACCELERATION    2.0f     /* 最大加速度 (m/s²) */
+#define WHEEL_GEAR_RATIO    4.0f     /* 轮毂电机扭矩 */
+#define BASE_LEG_LENGTH     0.12f    /* 基础腿长 (m) */
+#define LEG_LENGTH_RANGE    0.22f    /* 腿长调节范围 (m) */
+#define MIN_LEG_LENGTH      0.10f    /* 最小腿长 (m) */
+#define MAX_LEG_LENGTH      0.42f    /* 最大腿长 (m) */
+#define NON_CONTACT_THETA   0.16f    /* 离地时的摆角目标 (rad) */
+#define LEFT_BASE_FORCE     60.0f    /* 左腿基础支撑力 (N) */
+#define RIGHT_BASE_FORCE    65.0f    /* 右腿基础支撑力 (N) */
+
+/* Private function prototypes ---------------------------------------------- */
+static int8_t Chassis_MotorEnable(Chassis_t *c);
+static int8_t Chassis_MotorRelax(Chassis_t *c);
+static int8_t Chassis_SetMode(Chassis_t *c, Chassis_Mode_t mode);
+static void Chassis_UpdateChassisState(Chassis_t *c);
+static void Chassis_ResetControllers(Chassis_t *c);
+static void Chassis_SelectYawZeroPoint(Chassis_t *c);
+
+/* Private functions -------------------------------------------------------- */
+
 /**
  * @brief 使能所有电机
  * @param c 底盘结构体指针
- * @return
+ * @return 操作结果
  */
 static int8_t Chassis_MotorEnable(Chassis_t *c) {
-  if (c == NULL)
-    return CHASSIS_ERR_NULL;
+  if (c == NULL) return CHASSIS_ERR_NULL;
 
   for (int i = 0; i < 4; i++) {
-    MOTOR_LZ_Param_t *joint_param = &c->param->joint_param[i];
-    MOTOR_LZ_Enable(joint_param);
+    MOTOR_LZ_Enable(&c->param->joint_param[i]);
   }
   for (int i = 0; i < 2; i++) {
-    MOTOR_LK_Param_t *wheel_param = &c->param->wheel_param[i];
-    MOTOR_LK_MotorOn(wheel_param);
+    MOTOR_LK_MotorOn(&c->param->wheel_param[i]);
   }
   return CHASSIS_OK;
 }
 
+/**
+ * @brief 放松所有电机
+ * @param c 底盘结构体指针
+ * @return 操作结果
+ */
 static int8_t Chassis_MotorRelax(Chassis_t *c) {
-  if (c == NULL)
-    return CHASSIS_ERR_NULL;
+  if (c == NULL) return CHASSIS_ERR_NULL;
+
   for (int i = 0; i < 4; i++) {
-    MOTOR_LZ_Param_t *joint_param = &c->param->joint_param[i];
-    MOTOR_LZ_Relax(joint_param);
+    MOTOR_LZ_Relax(&c->param->joint_param[i]);
   }
   for (int i = 0; i < 2; i++) {
-    MOTOR_LK_Param_t *wheel_param = &c->param->wheel_param[i];
-    MOTOR_LK_Relax(wheel_param);
+    MOTOR_LK_Relax(&c->param->wheel_param[i]);
   }
   return CHASSIS_OK;
 }
 
-static int8_t Chassis_SetMode(Chassis_t *c, Chassis_Mode_t mode) {
-  if (c == NULL)
-    return CHASSIS_ERR_NULL; /* 主结构体不能为空 */
-  if (mode == c->mode)
-    return CHASSIS_OK; /* 模式未改变直接返回 */
-
-  // 特殊处理：从JUMP切换到WHELL_LEG_BALANCE时不重置
-  // 但从WHELL_LEG_BALANCE切换到JUMP时，需要重置以触发新的跳跃
-  if (c->mode == CHASSIS_MODE_JUMP && mode == CHASSIS_MODE_WHELL_LEG_BALANCE) {
-    c->mode = mode;
-    return CHASSIS_OK;
-  }
-  if (c->mode == CHASSIS_MODE_WHELL_LEG_BALANCE && mode == CHASSIS_MODE_JUMP) {
-    c->mode = mode;
-    c->state = 0; // 重置状态，确保每次切换模式时都重新初始化
-    c->jump_time=0;  // 重置跳跃时间，切换到JUMP模式时会触发新跳跃
-    return CHASSIS_OK;
-  }
-
-  Chassis_MotorEnable(c);
-
+/**
+ * @brief 重置所有控制器
+ * @param c 底盘结构体指针
+ */
+static void Chassis_ResetControllers(Chassis_t *c) {
+  /* 重置PID控制器 */
   PID_Reset(&c->pid.leg_length[0]);
   PID_Reset(&c->pid.leg_length[1]);
   PID_Reset(&c->pid.yaw);
@@ -71,235 +85,229 @@ static int8_t Chassis_SetMode(Chassis_t *c, Chassis_Mode_t mode) {
   PID_Reset(&c->pid.tp[0]);
   PID_Reset(&c->pid.tp[1]);
 
-  // 双零点自动选择逻辑（使用user_math的CircleError函数）
-  float current_yaw = c->feedback.yaw.rotor_abs_angle;
-  float zero_point_1 = c->param->mech_zero_yaw;
-  float zero_point_2 = zero_point_1 + M_PI; // 第二个零点，相差180度
-  
-  // 使用CircleError计算到两个零点的角度差（范围为M_2PI）
-  float error_to_zero1 = CircleError(zero_point_1, current_yaw, M_2PI);
-  float error_to_zero2 = CircleError(zero_point_2, current_yaw, M_2PI);
-  
-  // 选择误差绝对值更小的零点作为目标，并记录是否使用了第二个零点
-  if (fabsf(error_to_zero1) <= fabsf(error_to_zero2)) {
-    c->yaw_control.target_yaw = zero_point_1;
-    c->yaw_control.is_reversed = false; // 使用第一个零点，不反转
-  } else {
-    c->yaw_control.target_yaw = zero_point_2;
-    c->yaw_control.is_reversed = true;  // 使用第二个零点，需要反转前后方向
+  /* 重置LQR控制器 */
+  LQR_Reset(&c->lqr[0]);
+  LQR_Reset(&c->lqr[1]);
+
+  /* 重置滤波器 */
+  for (int i = 0; i < 4; i++) {
+    LowPassFilter2p_Reset(&c->filter.joint_out[i], 0.0f);
+  }
+  for (int i = 0; i < 2; i++) {
+    LowPassFilter2p_Reset(&c->filter.wheel_out[i], 0.0f);
   }
 
-  // 清空位移
+  /* 清空机体状态 */
   c->chassis_state.position_x = 0.0f;
   c->chassis_state.velocity_x = 0.0f;
   c->chassis_state.last_velocity_x = 0.0f;
   c->chassis_state.target_x = 0.0f;
   c->chassis_state.target_velocity_x = 0.0f;
   c->chassis_state.last_target_velocity_x = 0.0f;
+}
 
-  LQR_Reset(&c->lqr[0]);
-  LQR_Reset(&c->lqr[1]);
+/**
+ * @brief 选择yaw轴零点（双零点自动选择）
+ * @param c 底盘结构体指针
+ */
+static void Chassis_SelectYawZeroPoint(Chassis_t *c) {
+  float current_yaw = c->feedback.yaw.rotor_abs_angle;
+  float zero_point_1 = c->param->mech_zero_yaw;
+  float zero_point_2 = zero_point_1 + M_PI;
 
-  LowPassFilter2p_Reset(&c->filter.joint_out[0], 0.0f);
-  LowPassFilter2p_Reset(&c->filter.joint_out[1], 0.0f);
-  LowPassFilter2p_Reset(&c->filter.joint_out[2], 0.0f);
-  LowPassFilter2p_Reset(&c->filter.joint_out[3], 0.0f);
-  LowPassFilter2p_Reset(&c->filter.wheel_out[0], 0.0f);
-  LowPassFilter2p_Reset(&c->filter.wheel_out[1], 0.0f);
+  float error_to_zero1 = CircleError(zero_point_1, current_yaw, M_2PI);
+  float error_to_zero2 = CircleError(zero_point_2, current_yaw, M_2PI);
+
+  if (fabsf(error_to_zero1) <= fabsf(error_to_zero2)) {
+    c->yaw_control.target_yaw = zero_point_1;
+    c->yaw_control.is_reversed = false;
+  } else {
+    c->yaw_control.target_yaw = zero_point_2;
+    c->yaw_control.is_reversed = true;
+  }
+}
+
+/**
+ * @brief 设置底盘模式
+ * @param c 底盘结构体指针
+ * @param mode 目标模式
+ * @return 操作结果
+ */
+static int8_t Chassis_SetMode(Chassis_t *c, Chassis_Mode_t mode) {
+  if (c == NULL) return CHASSIS_ERR_NULL;
+  if (mode == c->mode) return CHASSIS_OK;
+
+  Chassis_MotorEnable(c);
+  Chassis_ResetControllers(c);
+  Chassis_SelectYawZeroPoint(c);
 
   c->mode = mode;
-  c->state = 0; // 重置状态，确保每次切换模式时都重新初始化
-  c->jump_time=0;  // 重置跳跃时间，切换到JUMP模式时会触发新跳跃
-  c->wz_multi=0.0f;
-
   return CHASSIS_OK;
 }
 
-/* 更新机体状态估计 */
+/**
+ * @brief 更新机体状态估计
+ * @param c 底盘结构体指针
+ */
 static void Chassis_UpdateChassisState(Chassis_t *c) {
-  if (c == NULL)
-    return;
+  if (c == NULL) return;
 
-  // 从轮子编码器估计机体速度 (参考C++代码)
-  float left_wheel_speed_dps = c->feedback.wheel[0].rotor_speed; // dps (度每秒)
-  float right_wheel_speed_dps =
-      c->feedback.wheel[1].rotor_speed; // dps (度每秒)
+  /* 从轮子编码器估计机体速度 */
+  float left_speed_dps = c->feedback.wheel[0].rotor_speed;
+  float right_speed_dps = c->feedback.wheel[1].rotor_speed;
 
-  // 将dps转换为rad/s
-  float left_wheel_speed = left_wheel_speed_dps * M_PI / 180.0f;   // rad/s
-  float right_wheel_speed = right_wheel_speed_dps * M_PI / 180.0f; // rad/s
+  /* 将dps转换为rad/s，再转为线速度 */
+  float left_linear_vel = left_speed_dps * (M_PI / 180.0f) * WHEEL_RADIUS;
+  float right_linear_vel = right_speed_dps * (M_PI / 180.0f) * WHEEL_RADIUS;
 
-  float wheel_radius = 0.068f;
-
-  float left_wheel_linear_vel = left_wheel_speed * wheel_radius;
-  float right_wheel_linear_vel = right_wheel_speed * wheel_radius;
-
-  // 机体x方向速度 (轮子中心速度)
+  /* 更新机体速度和位置 */
   c->chassis_state.last_velocity_x = c->chassis_state.velocity_x;
-  c->chassis_state.velocity_x =
-      (left_wheel_linear_vel + right_wheel_linear_vel) / 2.0f;
-
-  // 在跳跃模式的起跳和收腿阶段暂停位移积分，避免轮子空转导致的位移误差
-  if (!(c->mode == CHASSIS_MODE_JUMP && (c->state == 2 || c->state == 3))) {
-    // 积分得到位置
-    c->chassis_state.position_x += c->chassis_state.velocity_x * c->dt;
-  }
+  c->chassis_state.velocity_x = (left_linear_vel + right_linear_vel) / 2.0f;
+  c->chassis_state.position_x += c->chassis_state.velocity_x * c->dt;
 }
 
+/* Public functions --------------------------------------------------------- */
 
-
+/**
+ * @brief 初始化底盘
+ * @param c 底盘结构体指针
+ * @param param 底盘参数指针
+ * @param target_freq 目标控制频率
+ * @return 操作结果
+ */
 int8_t Chassis_Init(Chassis_t *c, Chassis_Params_t *param, float target_freq) {
   if (c == NULL || param == NULL || target_freq <= 0.0f) {
-    return -1; // 参数错误
+    return CHASSIS_ERR;
   }
-  c->param = param;
 
+  c->param = param;
   c->mode = CHASSIS_MODE_RELAX;
 
-  /*初始化can*/
+  /* 初始化CAN */
   BSP_CAN_Init();
 
-  /*初始化和注册所有电机*/
+  /* 初始化和注册电机 */
   MOTOR_LZ_Init();
 
-    // 注册关节电机
-    for (int i = 0; i < 4; i++) {
-        if (MOTOR_LZ_Register(&c->param->joint_param[i]) != DEVICE_OK) {
-            return DEVICE_ERR;
-        }
+  for (int i = 0; i < 4; i++) {
+    if (MOTOR_LZ_Register(&c->param->joint_param[i]) != DEVICE_OK) {
+      return DEVICE_ERR;
     }
-    
-    // 注册轮子电机
-    for (int i = 0; i < 2; i++) {
-        if (MOTOR_LK_Register(&c->param->wheel_param[i]) != DEVICE_OK) {
-            return DEVICE_ERR;
-        }
+  }
+
+  for (int i = 0; i < 2; i++) {
+    if (MOTOR_LK_Register(&c->param->wheel_param[i]) != DEVICE_OK) {
+      return DEVICE_ERR;
     }
-    
+  }
+
   MOTOR_DM_Register(&c->param->yaw_motor);
 
-  /*初始化VMC控制器*/
+  /* 初始化VMC控制器 */
   VMC_Init(&c->vmc_[0], &param->vmc_param[0], target_freq);
   VMC_Init(&c->vmc_[1], &param->vmc_param[1], target_freq);
 
-  /*初始化pid*/
-  PID_Init(&c->pid.leg_length[0], KPID_MODE_CALC_D, target_freq,
-           &param->leg_length);
-  PID_Init(&c->pid.leg_length[1], KPID_MODE_CALC_D, target_freq,
-           &param->leg_length);
+  /* 初始化PID控制器 */
+  PID_Init(&c->pid.leg_length[0], KPID_MODE_CALC_D, target_freq, &param->leg_length);
+  PID_Init(&c->pid.leg_length[1], KPID_MODE_CALC_D, target_freq, &param->leg_length);
   PID_Init(&c->pid.yaw, KPID_MODE_CALC_D, target_freq, &param->yaw);
   PID_Init(&c->pid.roll, KPID_MODE_CALC_D, target_freq, &param->roll);
   PID_Init(&c->pid.tp[0], KPID_MODE_CALC_D, target_freq, &param->tp);
   PID_Init(&c->pid.tp[1], KPID_MODE_CALC_D, target_freq, &param->tp);
 
-  /*初始化LQR控制器*/
+  /* 初始化LQR控制器 */
   LQR_Init(&c->lqr[0], &param->lqr_gains);
   LQR_Init(&c->lqr[1], &param->lqr_gains);
 
-  LowPassFilter2p_Init(&c->filter.joint_out[0], target_freq,
-                       param->low_pass_cutoff_freq.out);
-  LowPassFilter2p_Init(&c->filter.joint_out[1], target_freq,
-                       param->low_pass_cutoff_freq.out);
-  LowPassFilter2p_Init(&c->filter.joint_out[2], target_freq,
-                       param->low_pass_cutoff_freq.out);
-  LowPassFilter2p_Init(&c->filter.joint_out[3], target_freq,
-                       param->low_pass_cutoff_freq.out);
-  LowPassFilter2p_Init(&c->filter.wheel_out[0], target_freq,
-                       param->low_pass_cutoff_freq.out);
-  LowPassFilter2p_Init(&c->filter.wheel_out[1], target_freq,
-                       param->low_pass_cutoff_freq.out);
-  Chassis_MotorEnable(c);
-  /*初始化机体状态*/
-  c->chassis_state.position_x = 0.0f;
-  c->chassis_state.velocity_x = 0.0f;
-  c->chassis_state.last_velocity_x = 0.0f;
-  c->chassis_state.target_x = 0.0f;
-  c->chassis_state.target_velocity_x = 0.0f;
-  c->chassis_state.last_target_velocity_x = 0.0f;
+  /* 初始化滤波器 */
+  for (int i = 0; i < 4; i++) {
+    LowPassFilter2p_Init(&c->filter.joint_out[i], target_freq, param->low_pass_cutoff_freq.out);
+  }
+  for (int i = 0; i < 2; i++) {
+    LowPassFilter2p_Init(&c->filter.wheel_out[i], target_freq, param->low_pass_cutoff_freq.out);
+  }
 
-  /*初始化yaw控制状态*/
-  c->yaw_control.target_yaw = 0.0f;
-  c->yaw_control.current_yaw = 0.0f;
-  c->yaw_control.yaw_force = 0.0f;
-  c->yaw_control.is_reversed = false;
+  Chassis_MotorEnable(c);
+
+  /* 初始化状态变量 */
+  memset(&c->chassis_state, 0, sizeof(c->chassis_state));
+  memset(&c->yaw_control, 0, sizeof(c->yaw_control));
 
   return CHASSIS_OK;
 }
 
+/**
+ * @brief 更新底盘反馈数据
+ * @param c 底盘结构体指针
+ * @return 操作结果
+ */
 int8_t Chassis_UpdateFeedback(Chassis_t *c) {
-  if (c == NULL) {
-    return -1; // 参数错误
+  if (c == NULL) return CHASSIS_ERR_NULL;
+
+  /* 更新所有电机数据 */
+  MOTOR_LZ_UpdateAll();
+  MOTOR_LK_UpdateAll();
+
+  /* 更新关节电机反馈 */
+  for (int i = 0; i < 4; i++) {
+    MOTOR_LZ_t *joint_motor = MOTOR_LZ_GetMotor(&c->param->joint_param[i]);
+    if (joint_motor != NULL) {
+      c->feedback.joint[i] = joint_motor->motor.feedback;
+    }
+
+    /* 机械零点调整 */
+    if (c->feedback.joint[i].rotor_abs_angle > M_PI) {
+      c->feedback.joint[i].rotor_abs_angle -= M_2PI;
+    }
+    c->feedback.joint[i].rotor_abs_angle = -c->feedback.joint[i].rotor_abs_angle;
   }
-  // 更新所有电机数据
-    MOTOR_LZ_UpdateAll();
-    MOTOR_LK_UpdateAll();
-    
-    // 更新反馈数据
-    for (int i = 0; i < 4; i++) {
-        MOTOR_LZ_t* joint_motor = MOTOR_LZ_GetMotor(&c->param->joint_param[i]);
-        if (joint_motor != NULL) {
-            c->feedback.joint[i] = joint_motor->motor.feedback;
-        }
-    }
-    
-    for (int i = 0; i < 2; i++) {
-        MOTOR_LK_t* wheel_motor = MOTOR_LK_GetMotor(&c->param->wheel_param[i]);
-        if (wheel_motor != NULL) {
-            c->feedback.wheel[i] = wheel_motor->motor.feedback;
-        }
-    }
 
-    for (int i = 0; i < 4; i++) {
-        // 机械零点调整
-        if (c->feedback.joint[i].rotor_abs_angle > M_PI) {
-            c->feedback.joint[i].rotor_abs_angle -= M_2PI;
-        }
-        c->feedback.joint[i].rotor_abs_angle =
-            -c->feedback.joint[i].rotor_abs_angle; // 机械零点调整
+  /* 更新轮子电机反馈 */
+  for (int i = 0; i < 2; i++) {
+    MOTOR_LK_t *wheel_motor = MOTOR_LK_GetMotor(&c->param->wheel_param[i]);
+    if (wheel_motor != NULL) {
+      c->feedback.wheel[i] = wheel_motor->motor.feedback;
     }
-    
-  // for (int i = 0; i < 4; i++) {
-  //   c->feedback.joint[i] = virtual_chassis.data.joint[i];
-  //   if (c->feedback.joint[i].rotor_abs_angle > M_PI) {
-  //     c->feedback.joint[i].rotor_abs_angle -= M_2PI;
-  //   }
-  //   c->feedback.joint[i].rotor_abs_angle =
-  //       -c->feedback.joint[i].rotor_abs_angle; // 机械零点调整
-  // }
-  // for (int i = 0; i < 2; i++) {
-  //   c->feedback.wheel[i] = virtual_chassis.data.wheel[i];
-  // }
-  // c->feedback.imu.accl = virtual_chassis.data.imu.accl;
-  // c->feedback.imu.gyro = virtual_chassis.data.imu.gyro;
-  // c->feedback.imu.euler = virtual_chassis.data.imu.euler;
+  }
 
-  // 更新机体状态估计
+  /* 更新机体状态估计 */
   Chassis_UpdateChassisState(c);
 
-  return 0;
+  return CHASSIS_OK;
 }
 
+/**
+ * @brief 更新IMU数据
+ * @param c 底盘结构体指针
+ * @param imu IMU数据
+ * @return 操作结果
+ */
 int8_t Chassis_UpdateIMU(Chassis_t *c, const Chassis_IMU_t imu) {
-  if (c == NULL) {
-    return -1; // 参数错误
-  }
+  if (c == NULL) return CHASSIS_ERR_NULL;
+
   c->feedback.imu = imu;
-  return 0;
+  return CHASSIS_OK;
 }
 
+/**
+ * @brief 底盘控制主函数
+ * @param c 底盘结构体指针
+ * @param c_cmd 控制指令
+ * @return 操作结果
+ */
 int8_t Chassis_Control(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
-  if (c == NULL || c_cmd == NULL) {
-    return CHASSIS_ERR_NULL; // 参数错误
-  }
-  c->dt = (BSP_TIME_Get_us() - c->lask_wakeup) /
-          1000000.0f; /* 计算两次调用的时间间隔，单位秒 */
+  if (c == NULL || c_cmd == NULL) return CHASSIS_ERR_NULL;
+
+  /* 计算时间间隔 */
+  c->dt = (BSP_TIME_Get_us() - c->lask_wakeup) / 1000000.0f;
   c->lask_wakeup = BSP_TIME_Get_us();
 
-  /*设置底盘模式*/
+  /* 设置底盘模式 */
   if (Chassis_SetMode(c, c_cmd->mode) != CHASSIS_OK) {
-    return CHASSIS_ERR_MODE; // 设置模式失败
+    return CHASSIS_ERR_MODE;
   }
 
+  /* VMC正解算 */
   VMC_ForwardSolve(&c->vmc_[0], c->feedback.joint[0].rotor_abs_angle,
                    c->feedback.joint[1].rotor_abs_angle,
                    c->feedback.imu.euler.pit, c->feedback.imu.gyro.y);
@@ -307,173 +315,105 @@ int8_t Chassis_Control(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
                    c->feedback.joint[2].rotor_abs_angle,
                    c->feedback.imu.euler.pit, c->feedback.imu.gyro.y);
 
-  /*根据底盘模式执行不同的控制逻辑*/
+  /* 根据模式执行控制 */
   switch (c->mode) {
-  case CHASSIS_MODE_RELAX:
-    // 放松模式，电机不输出
-    Chassis_MotorRelax(c);
+    case CHASSIS_MODE_RELAX:
+      Chassis_MotorRelax(c);
+      Chassis_LQRControl(c, c_cmd);
+      break;
 
-    Chassis_LQRControl(c, c_cmd);
+    case CHASSIS_MODE_RECOVER: {
+      float fn = -20.0f, tp = 0.0f;
+      Chassis_LQRControl(c, c_cmd);
 
-    break;
+      VMC_InverseSolve(&c->vmc_[0], fn, tp);
+      VMC_GetJointTorques(&c->vmc_[0], &c->output.joint[0], &c->output.joint[1]);
+      VMC_InverseSolve(&c->vmc_[1], fn, tp);
+      VMC_GetJointTorques(&c->vmc_[1], &c->output.joint[3], &c->output.joint[2]);
 
-  case CHASSIS_MODE_RECOVER: {
-    float fn, tp;
-    fn = -20.0f;
-    tp = 0.0f;
+      c->output.wheel[0] = c_cmd->move_vec.vx * 0.2f;
+      c->output.wheel[1] = c_cmd->move_vec.vx * 0.2f;
+      Chassis_Output(c);
+    } break;
 
-    Chassis_LQRControl(c, c_cmd);
+    case CHASSIS_MODE_WHELL_LEG_BALANCE:
+      Chassis_LQRControl(c, c_cmd);
+      Chassis_Output(c);
+      break;
 
-    VMC_InverseSolve(&c->vmc_[0], fn, tp);
-    VMC_GetJointTorques(&c->vmc_[0], &c->output.joint[0], &c->output.joint[1]);
-    VMC_InverseSolve(&c->vmc_[1], fn, tp);
-    VMC_GetJointTorques(&c->vmc_[1], &c->output.joint[3], &c->output.joint[2]);
-
-    c->output.wheel[0] = c_cmd->move_vec.vx * 0.2f;
-
-    c->output.wheel[1] = c_cmd->move_vec.vx * 0.2f;
-    Chassis_Output(c); // 统一输出
-
-  } break;
-  case CHASSIS_MODE_JUMP:
-    // 跳跃模式状态机
-    // 状态转换: 0(准备)->1(0.3s)->2(0.2s)->3(0.3s)->0(完成)
-    // jump_time == 0: 未开始跳跃
-    // jump_time == 1: 已完成跳跃（不再触发）
-    // jump_time > 1: 跳跃进行中
-    
-    // 检测是否需要开始新的跳跃（state为0且jump_time为0）
-    if (c->state == 0 && c->jump_time == 0) {
-      // 开始跳跃，进入state 1
-      c->state = 1;
-      c->jump_time = BSP_TIME_Get_us();
-    }
-    
-    // 只有在跳跃进行中时才处理状态转换（jump_time > 1）
-    if (c->jump_time > 1) {
-      // 计算已经过的时间（微秒）
-      uint64_t elapsed_us = BSP_TIME_Get_us() - c->jump_time;
-      
-      // 状态转换逻辑
-      if (c->state == 1 && elapsed_us >= 300000) {
-        // state 1 保持0.3s后转到state 2
-        c->state = 2;
-        c->jump_time = BSP_TIME_Get_us(); // 重置计时
-      } else if (c->state == 2 && elapsed_us >= 230000) {
-        // state 2 保持0.25s后转到state 3，确保腿部充分伸展
-        c->state = 3;
-        c->jump_time = BSP_TIME_Get_us(); // 重置计时
-      } else if (c->state == 3 && elapsed_us >= 500000) {
-        // state 3 保持0.4s后转到state 0，确保收腿到最高
-        c->state = 0;
-        c->jump_time = 1; // 设置为1，表示已完成跳跃，不再触发
-      }
-    }
-    
-    // 执行LQR控制（包含PID腿长控制）
-    Chassis_LQRControl(c, c_cmd);
-    Chassis_Output(c); // 统一输出
-    break;
-  case CHASSIS_MODE_WHELL_LEG_BALANCE:
-  case CHASSIS_MODE_ROTOR:
-
-    // 执行LQR控制（包含PID腿长控制）
-    Chassis_LQRControl(c, c_cmd);
-    Chassis_Output(c); // 统一输出
-    break;
-
-    break;
-  default:
-    return CHASSIS_ERR_MODE;
+    default:
+      return CHASSIS_ERR_MODE;
   }
 
   return CHASSIS_OK;
 }
 
+/**
+ * @brief 底盘输出
+ * @param c 底盘结构体指针
+ */
 void Chassis_Output(Chassis_t *c) {
-  if (c == NULL)
-    return;
-  c->output.joint[0] =
-      LowPassFilter2p_Apply(&c->filter.joint_out[0], c->output.joint[0]);
-  c->output.joint[1] =
-      LowPassFilter2p_Apply(&c->filter.joint_out[1], c->output.joint[1]);
-  c->output.joint[2] =
-      LowPassFilter2p_Apply(&c->filter.joint_out[2], c->output.joint[2]);
-  c->output.joint[3] =
-      LowPassFilter2p_Apply(&c->filter.joint_out[3], c->output.joint[3]);
+  if (c == NULL) return;
 
+  /* 关节输出滤波 */
+  for (int i = 0; i < 4; i++) {
+    c->output.joint[i] = LowPassFilter2p_Apply(&c->filter.joint_out[i], c->output.joint[i]);
+  }
+
+  /* 发送关节控制指令 */
   MOTOR_LZ_MotionParam_t motion_param = {
-    .torque=0.0f,
-    .target_angle=0.0f,
-    .target_velocity=0.0f,
-    .kp=0.0f,
-    .kd=0.0f,
+      .torque = 0.0f,
+      .target_angle = 0.0f,
+      .target_velocity = 0.0f,
+      .kp = 0.0f,
+      .kd = 0.0f,
   };
+
   for (int i = 0; i < 4; i++) {
     motion_param.torque = c->output.joint[i];
-    MOTOR_LZ_MotionControl(&c->param->joint_param[i],&motion_param);
+    MOTOR_LZ_MotionControl(&c->param->joint_param[i], &motion_param);
+  }
+
+  /* 轮子输出滤波并发送 */
+  for (int i = 0; i < 2; i++) {
+    c->output.wheel[i] = LowPassFilter2p_Apply(&c->filter.wheel_out[i], c->output.wheel[i]);
   }
-  c->output.wheel[0] =
-      LowPassFilter2p_Apply(&c->filter.wheel_out[0], c->output.wheel[0]);
-  c->output.wheel[1] =
-      LowPassFilter2p_Apply(&c->filter.wheel_out[1], c->output.wheel[1]);
   MOTOR_LK_SetOutput(&c->param->wheel_param[0], c->output.wheel[0]);
   MOTOR_LK_SetOutput(&c->param->wheel_param[1], c->output.wheel[1]);
-  // Virtual_Chassis_SendWheelCommand(&virtual_chassis, c->output.wheel[0],
-                                  //  c->output.wheel[1]);
-  // Virtual_Chassis_SendWheelCommand(&virtual_chassis, 0.0f,
-  //                                  0.0f); // 暂时不让轮子动
 }
 
+/**
+ * @brief LQR控制
+ * @param c 底盘结构体指针
+ * @param c_cmd 控制指令
+ * @return 操作结果
+ */
 int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
-  if (c == NULL || c_cmd == NULL) {
-    return CHASSIS_ERR_NULL;
-  }
+  if (c == NULL || c_cmd == NULL) return CHASSIS_ERR_NULL;
 
-  /* 运动参数（参考C++版本的状态估计） */
-  static float xhat = 0.0f, x_dot_hat = 0.0f;
-  float target_dot_x = 0.0f;
-  float max_acceleration = 2.0f; // 最大加速度限制: 3 m/s²
-
-  // 简化的速度估计（后续可以改进为C++版本的复杂滤波）
-  x_dot_hat = c->chassis_state.velocity_x;
-  xhat = c->chassis_state.position_x;
-
-  // 目标速度设定（原始期望速度）
-  float raw_vx = c_cmd->move_vec.vx * 2;
-  
-  // 根据零点选择情况决定是否反转前后方向
+  /* ==================== 速度控制 ==================== */
+  float raw_vx = c_cmd->move_vec.vx * 2.0f;
   float desired_velocity = c->yaw_control.is_reversed ? -raw_vx : raw_vx;
 
-  // 加速度限制处理
-  float velocity_change =
-      desired_velocity - c->chassis_state.last_target_velocity_x;
-  float max_velocity_change = max_acceleration * c->dt; // 最大允许的速度变化
+  /* 加速度限制 */
+  float velocity_change = desired_velocity - c->chassis_state.last_target_velocity_x;
+  float max_velocity_change = MAX_ACCELERATION * c->dt;
+  velocity_change = LIMIT(velocity_change, -max_velocity_change, max_velocity_change);
 
-  // 限制速度变化率（加速度限制）
-  if (velocity_change > max_velocity_change) {
-    velocity_change = max_velocity_change;
-  } else if (velocity_change < -max_velocity_change) {
-    velocity_change = -max_velocity_change;
-  }
-
-  // 应用加速度限制后的目标速度
-  target_dot_x = c->chassis_state.last_target_velocity_x + velocity_change;
+  float target_dot_x = c->chassis_state.last_target_velocity_x + velocity_change;
   c->chassis_state.target_velocity_x = target_dot_x;
   c->chassis_state.last_target_velocity_x = target_dot_x;
-
-  // 更新目标位置
   c->chassis_state.target_x += target_dot_x * c->dt;
 
-  /* 分别计算左右腿的LQR控制 */
-  /* 构建当前状态 */
-  LQR_State_t current_state = {0};
-  current_state.theta = c->vmc_[0].leg.theta;
-  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.pit;
-  current_state.d_phi = -c->feedback.imu.gyro.x;
+  /* ==================== 状态更新 ==================== */
+  LQR_State_t current_state = {
+      .theta = c->vmc_[0].leg.theta,
+      .d_theta = c->vmc_[0].leg.d_theta,
+      .x = c->chassis_state.position_x,
+      .d_x = c->chassis_state.velocity_x,
+      .phi = c->feedback.imu.euler.pit,
+      .d_phi = -c->feedback.imu.gyro.x,
+  };
 
   LQR_UpdateState(&c->lqr[0], &current_state);
 
@@ -481,251 +421,140 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
   current_state.d_theta = c->vmc_[1].leg.d_theta;
   LQR_UpdateState(&c->lqr[1], &current_state);
 
-  /* 根据当前腿长更新增益矩阵 */
+  /* 根据腿长更新增益矩阵 */
   LQR_CalculateGainMatrix(&c->lqr[0], c->vmc_[0].leg.L0);
   LQR_CalculateGainMatrix(&c->lqr[1], c->vmc_[1].leg.L0);
 
-  /* 构建目标状态 */
-  LQR_State_t target_state = {0};
-  
-  // 在跳跃收腿阶段强制摆角目标为0，确保落地时腿部竖直
-  if (c->mode == CHASSIS_MODE_JUMP && c->state == 3) {
-    target_state.theta = 0.0f;                 // 强制摆杆角度为0，确保腿部竖直
+  /* ==================== 目标状态 ==================== */
+  LQR_State_t target_state = {
+      .theta = 0.0f,
+      .d_theta = 0.0f,
+      .phi = -0.2f,
+      .d_phi = 0.0f,
+      .x = c->chassis_state.target_x,
+      .d_x = c->chassis_state.target_velocity_x,
+  };
+
+  /* ==================== Yaw轴控制 ==================== */
+  c->yaw_control.current_yaw = c->feedback.yaw.rotor_abs_angle;
+
+  float manual_offset = c_cmd->move_vec.vy * M_PI_2;
+  float base_target_1 = c->param->mech_zero_yaw + manual_offset;
+  float base_target_2 = c->param->mech_zero_yaw + M_PI + manual_offset;
+
+  float error_to_target1 = CircleError(base_target_1, c->yaw_control.current_yaw, M_2PI);
+  float error_to_target2 = CircleError(base_target_2, c->yaw_control.current_yaw, M_2PI);
+
+  if (fabsf(error_to_target1) <= fabsf(error_to_target2)) {
+    c->yaw_control.target_yaw = base_target_1;
+    c->yaw_control.is_reversed = false;
   } else {
-    target_state.theta = 0.00;                 // 目标摆杆角度
-  }
-  target_state.d_theta = 0.0f;                // 目标摆杆角速度
-  target_state.phi = -0.2f;                    // 目标俯仰角
-  target_state.d_phi = 0.0f;                  // 目标俯仰角速度
-  target_state.x  = 0.0f;                  // 目标位置
-  target_state.d_x = 0.0f;            // 目标速度
-
-  if (c->mode != CHASSIS_MODE_ROTOR){
-    c->yaw_control.current_yaw = c->feedback.yaw.rotor_abs_angle;
-    
-    // 双零点自动选择逻辑（考虑手动控制偏移，使用CircleError函数）
-    float manual_offset = c_cmd->move_vec.vy * M_PI_2;
-    float base_target_1 = c->param->mech_zero_yaw + manual_offset;
-    float base_target_2 = c->param->mech_zero_yaw + M_PI + manual_offset;
-    
-    // 使用CircleError计算到两个目标的角度误差
-    float error_to_target1 = CircleError(base_target_1, c->yaw_control.current_yaw, M_2PI);
-    float error_to_target2 = CircleError(base_target_2, c->yaw_control.current_yaw, M_2PI);
-    
-    // 选择误差绝对值更小的目标，并更新反转状态
-    if (fabsf(error_to_target1) <= fabsf(error_to_target2)) {
-      c->yaw_control.target_yaw = base_target_1;
-      c->yaw_control.is_reversed = false; // 使用第一个零点，不反转
-    } else {
-      c->yaw_control.target_yaw = base_target_2;
-      c->yaw_control.is_reversed = true;  // 使用第二个零点，需要反转前后方向
-    }
-    
-    // c->yaw_control.yaw_force =
-    //     PID_Calc(&c->pid.yaw, c->yaw_control.target_yaw,
-    //              c->feedback.yaw.rotor_abs_angle, 0.0f, c->dt);
-    c->yaw_control.yaw_force = 0.0f; // 关闭偏航控制
-  }else{
-    // 小陀螺模式：使用速度环控制
-    c->yaw_control.current_yaw = c->feedback.imu.euler.yaw;
-    
-    // 渐增旋转速度，最大角速度约6.9 rad/s（约400度/秒）
-    c->wz_multi += 0.005f;
-    if (c->wz_multi > 1.2f)
-      c->wz_multi = 1.2f;
-    
-    // 目标角速度（rad/s），可根据需要调整最大速度
-    float target_yaw_velocity = c->wz_multi * 1.0f; // 最大约7.2 rad/s
-    
-    // 当前角速度反馈来自IMU陀螺仪
-    float current_yaw_velocity = c->feedback.imu.gyro.z;
-    
-    // 使用PID控制角速度，输出力矩
-    c->yaw_control.yaw_force =
-        PID_Calc(&c->pid.yaw, target_yaw_velocity,
-                 current_yaw_velocity, 0.0f, c->dt);
+    c->yaw_control.target_yaw = base_target_2;
+    c->yaw_control.is_reversed = true;
   }
 
+  c->yaw_control.yaw_force = PID_Calc(&c->pid.yaw, c->yaw_control.target_yaw,
+                                       c->feedback.yaw.rotor_abs_angle, 0.0f, c->dt);
+
+  /* ==================== 左腿LQR控制 ==================== */
   if (c->vmc_[0].leg.is_ground_contact) {
-      /* 更新LQR状态 */
     LQR_SetTargetState(&c->lqr[0], &target_state);
     LQR_Control(&c->lqr[0]);
   } else {
-    // 在跳跃收腿阶段强制摆角目标为0，其他情况为0.16f
-    float non_contact_theta = (c->mode == CHASSIS_MODE_JUMP && c->state == 3) ? 0.0f : 0.16f;
-    target_state.theta = non_contact_theta; // 非接触时的腿摆角目标
+    target_state.theta = NON_CONTACT_THETA;
     LQR_SetTargetState(&c->lqr[0], &target_state);
     c->lqr[0].control_output.T = 0.0f;
     c->lqr[0].control_output.Tp =
-        c->lqr[0].K_matrix[1][0] * (-c->vmc_[0].leg.theta + non_contact_theta) +
-        c->lqr[0].K_matrix[1][1] * (-c->vmc_[0].leg.d_theta + 0.0f);
-    c->yaw_control.yaw_force = 0.0f; // 单腿离地时关闭偏航控制
+        c->lqr[0].K_matrix[1][0] * (-c->vmc_[0].leg.theta + NON_CONTACT_THETA) +
+        c->lqr[0].K_matrix[1][1] * (-c->vmc_[0].leg.d_theta);
+    c->yaw_control.yaw_force = 0.0f;
   }
-  if (c->vmc_[1].leg.is_ground_contact){
+
+  /* ==================== 右腿LQR控制 ==================== */
+  if (c->vmc_[1].leg.is_ground_contact) {
     LQR_SetTargetState(&c->lqr[1], &target_state);
     LQR_Control(&c->lqr[1]);
-  }else {
-    // 在跳跃收腿阶段强制摆角目标为0，其他情况为0.16f
-    float non_contact_theta = (c->mode == CHASSIS_MODE_JUMP && c->state == 3) ? 0.0f : 0.16f;
-    target_state.theta = non_contact_theta; // 非接触时的腿摆角目标
+  } else {
+    target_state.theta = NON_CONTACT_THETA;
     LQR_SetTargetState(&c->lqr[1], &target_state);
     c->lqr[1].control_output.T = 0.0f;
     c->lqr[1].control_output.Tp =
-        c->lqr[1].K_matrix[1][0] * (-c->vmc_[1].leg.theta + non_contact_theta) +
-        c->lqr[1].K_matrix[1][1] * (-c->vmc_[1].leg.d_theta + 0.0f);
-    c->yaw_control.yaw_force = 0.0f; // 单腿离地时关闭偏航控制
+        c->lqr[1].K_matrix[1][0] * (-c->vmc_[1].leg.theta + NON_CONTACT_THETA) +
+        c->lqr[1].K_matrix[1][1] * (-c->vmc_[1].leg.d_theta);
+    c->yaw_control.yaw_force = 0.0f;
   }
 
-  /* 轮毂力矩输出（参考C++版本的减速比） */
-  // 在跳跃的起跳和收腿阶段强制关闭轮子输出，防止离地时轮子猛转
-  if (c->mode == CHASSIS_MODE_JUMP && (c->state == 2 || c->state == 3)) {
-    c->output.wheel[0] = 0.0f;
-    c->output.wheel[1] = 0.0f;
-  } else {
-    c->output.wheel[0] =
-        c->lqr[0].control_output.T / 4.5f + c->yaw_control.yaw_force;
-    c->output.wheel[1] =
-        c->lqr[1].control_output.T / 4.5f - c->yaw_control.yaw_force;
-  }
-  /* 腿长控制和VMC逆解算（使用PID控制） */
-  float virtual_force[2];
+  /* ==================== 轮毂输出 ==================== */
+  c->output.wheel[0] = c->lqr[0].control_output.T / WHEEL_GEAR_RATIO + c->yaw_control.yaw_force;
+  c->output.wheel[1] = c->lqr[1].control_output.T / WHEEL_GEAR_RATIO - c->yaw_control.yaw_force;
+
+  /* ==================== 横滚角补偿 ==================== */
+  float roll_compensation = PID_Calc(&c->pid.roll, 0.0f, c->feedback.imu.euler.rol,
+                                      c->feedback.imu.gyro.x, c->dt);
+
+  /* 限制补偿范围 */
+  float max_compensation = (c->vmc_[0].leg.is_ground_contact && c->vmc_[1].leg.is_ground_contact)
+                               ? 0.05f : 0.02f;
+  roll_compensation = LIMIT(roll_compensation, -max_compensation, max_compensation);
+
+  /* ==================== 腿长控制 ==================== */
   float target_L0[2];
-  float leg_d_length[2]; // 腿长变化率
+  target_L0[0] = BASE_LEG_LENGTH + c_cmd->height * LEG_LENGTH_RANGE + roll_compensation;
+  target_L0[1] = BASE_LEG_LENGTH + c_cmd->height * LEG_LENGTH_RANGE - roll_compensation;
 
-  /* 横滚角PID补偿计算 */
-  // 使用PID控制器计算横滚角补偿长度，目标横滚角为0
-  float roll_compensation_length =
-      PID_Calc(&c->pid.roll, 0.0f, c->feedback.imu.euler.rol,
-               c->feedback.imu.gyro.x, c->dt);
+  /* 腿长限幅 */
+  target_L0[0] = LIMIT(target_L0[0], MIN_LEG_LENGTH, MAX_LEG_LENGTH);
+  target_L0[1] = LIMIT(target_L0[1], MIN_LEG_LENGTH, MAX_LEG_LENGTH);
 
-  // 限制补偿长度范围，防止过度补偿
-  // 如果任一腿离地，限制补偿长度
-  if (!c->vmc_[0].leg.is_ground_contact || !c->vmc_[1].leg.is_ground_contact) {
-    if (roll_compensation_length > 0.02f)
-      roll_compensation_length = 0.02f;
-    if (roll_compensation_length < -0.02f)
-      roll_compensation_length = -0.02f;
-  } else {
-    if (roll_compensation_length > 0.05f)
-      roll_compensation_length = 0.05f;
-    if (roll_compensation_length < -0.05f)
-      roll_compensation_length = -0.05f;
-  }
-
-  // 目标腿长设定（包含横滚角补偿）
-  switch (c->state) {
-  case 0: // 正常状态，根据高度指令调节腿长
-    target_L0[0] = 0.12f + c_cmd->height * 0.22f + roll_compensation_length; // 左腿：基础腿长 + 高度调节 + 横滚补偿
-    target_L0[1] = 0.12f + c_cmd->height * 0.22f - roll_compensation_length; // 右腿：基础腿长 + 高度调节 - 横滚补偿
-    break;
-  case 1: // 准备阶段，腿长收缩
-    target_L0[0] = 0.14f + roll_compensation_length; // 左腿：收缩到较短腿长 + 横滚补偿
-    target_L0[1] = 0.14f - roll_compensation_length; // 右腿：收缩到较短腿长 - 横滚补偿
-    break;
-  case 2: // 起跳阶段，腿长快速伸展
-    target_L0[0] = 0.65f; // 左腿：伸展到最大腿长（跳跃时不进行横滚补偿）
-    target_L0[1] = 0.65f; // 右腿：伸展到最大腿长（跳跃时不进行横滚补偿）
-    break;
-  case 3: // 收腿阶段，腿长收缩到最高
-    target_L0[0] = 0.06f; // 左腿：收缩到最短腿长（确保收腿到最高）
-    target_L0[1] = 0.06f; // 右腿：收缩到最短腿长（确保收腿到最高）
-    break;
-  default:
-    target_L0[0] = 0.16f + c_cmd->height * 0.22f + roll_compensation_length;
-    target_L0[1] = 0.16f + c_cmd->height * 0.22f - roll_compensation_length;
-    break;
-  }
-
-  // 腿长限幅：根据跳跃状态调整限制范围
-  if (c->mode == CHASSIS_MODE_JUMP && c->state == 3) {
-    // 在跳跃收腿阶段，允许更短的腿长，确保收腿到最高
-    if (target_L0[0] < 0.06f) target_L0[0] = 0.06f;
-    if (target_L0[1] < 0.06f) target_L0[1] = 0.06f;
-  } else {
-    // 正常情况下的腿长限制：最短0.10，最长0.42m
-    if (target_L0[0] < 0.10f) target_L0[0] = 0.10f;
-    if (target_L0[1] < 0.10f) target_L0[1] = 0.10f;
-  }
-  if (target_L0[0] > 0.42f) target_L0[0] = 0.42f;
-  if (target_L0[1] > 0.42f) target_L0[1] = 0.42f;
-
-  // 获取腿长变化率
+  /* 获取腿长变化率 */
+  float leg_d_length[2];
   VMC_GetVirtualLegState(&c->vmc_[0], NULL, NULL, &leg_d_length[0], NULL);
   VMC_GetVirtualLegState(&c->vmc_[1], NULL, NULL, &leg_d_length[1], NULL);
 
-  /* 左右腿摆角相互补偿（参考C++版本的Delta_Tp机制） */
+  /* ==================== 左右腿摆角同步补偿 ==================== */
   float Delta_Tp[2];
-  // 使用tp_pid进行左右腿摆角同步控制
-  // 左腿补偿力矩：使左腿theta向右腿theta靠拢
   Delta_Tp[0] = c->vmc_[0].leg.L0 * 10.0f *
                 PID_Calc(&c->pid.tp[0], c->vmc_[1].leg.theta,
                          c->vmc_[0].leg.theta, c->vmc_[0].leg.d_theta, c->dt);
-  // 右腿补偿力矩：使右腿theta向左腿theta靠拢（符号相反）
   Delta_Tp[1] = c->vmc_[1].leg.L0 * 10.0f *
                 PID_Calc(&c->pid.tp[1], c->vmc_[0].leg.theta,
                          c->vmc_[1].leg.theta, c->vmc_[1].leg.d_theta, c->dt);
 
-  // 左腿控制
-  {
-    // 使用PID进行腿长控制
-    float pid_output = PID_Calc(&c->pid.leg_length[0], target_L0[0],
-                                c->vmc_[0].leg.L0, leg_d_length[0], c->dt);
+  /* ==================== 左腿VMC控制 ==================== */
+  float pid_output_left = PID_Calc(&c->pid.leg_length[0], target_L0[0],
+                                    c->vmc_[0].leg.L0, leg_d_length[0], c->dt);
+  float virtual_force_left = c->lqr[0].control_output.Tp * sinf(c->vmc_[0].leg.theta) +
+                              pid_output_left + LEFT_BASE_FORCE;
 
-    // 腿长控制力 = LQR摆杆力矩的径向分量 + PID腿长控制输出 + 基础支撑力
-    virtual_force[0] =
-        (c->lqr[0].control_output.Tp) * sinf(c->vmc_[0].leg.theta) +
-        pid_output + 60.0f;
-
-    // VMC逆解算（包含摆角补偿）
-    if (VMC_InverseSolve(&c->vmc_[0], virtual_force[0],
-                         c->lqr[0].control_output.Tp + Delta_Tp[0]) == 0) {
-      VMC_GetJointTorques(&c->vmc_[0], &c->output.joint[0],
-                          &c->output.joint[1]);
-
-    } else {
-      // VMC失败，设为0力矩
-      c->output.joint[0] = 0.0f;
-      c->output.joint[1] = 0.0f;
-    }
+  if (VMC_InverseSolve(&c->vmc_[0], virtual_force_left,
+                       c->lqr[0].control_output.Tp + Delta_Tp[0]) == 0) {
+    VMC_GetJointTorques(&c->vmc_[0], &c->output.joint[0], &c->output.joint[1]);
+  } else {
+    c->output.joint[0] = 0.0f;
+    c->output.joint[1] = 0.0f;
   }
 
-  // 右腿控制
-  {
-    // 使用PID进行腿长控制
-    float pid_output = PID_Calc(&c->pid.leg_length[1], target_L0[1],
-                                c->vmc_[1].leg.L0, leg_d_length[1], c->dt);
+  /* ==================== 右腿VMC控制 ==================== */
+  float pid_output_right = PID_Calc(&c->pid.leg_length[1], target_L0[1],
+                                     c->vmc_[1].leg.L0, leg_d_length[1], c->dt);
+  float virtual_force_right = c->lqr[1].control_output.Tp * sinf(c->vmc_[1].leg.theta) +
+                               pid_output_right + RIGHT_BASE_FORCE;
 
-    // 腿长控制力 = LQR摆杆力矩的径向分量 + PID腿长控制输出 + 基础支撑力
-    virtual_force[1] =
-        (c->lqr[1].control_output.Tp) * sinf(c->vmc_[1].leg.theta) +
-        pid_output + 65.0f;
-
-    // VMC逆解算（包含摆角补偿）
-    if (VMC_InverseSolve(&c->vmc_[1], virtual_force[1],
-                         c->lqr[1].control_output.Tp + Delta_Tp[1]) == 0) {
-      VMC_GetJointTorques(&c->vmc_[1], &c->output.joint[3],
-                          &c->output.joint[2]);
-    } else {
-      // VMC失败，设为0力矩
-      c->output.joint[2] = 0.0f;
-      c->output.joint[3] = 0.0f;
-    }
+  if (VMC_InverseSolve(&c->vmc_[1], virtual_force_right,
+                       c->lqr[1].control_output.Tp + Delta_Tp[1]) == 0) {
+    VMC_GetJointTorques(&c->vmc_[1], &c->output.joint[3], &c->output.joint[2]);
+  } else {
+    c->output.joint[2] = 0.0f;
+    c->output.joint[3] = 0.0f;
   }
 
-  /* 安全限制 */
+  /* ==================== 安全限制 ==================== */
   for (int i = 0; i < 2; i++) {
-    if (fabsf(c->output.wheel[i]) > 1.0f) {
-      c->output.wheel[i] = (c->output.wheel[i] > 0) ? 1.0f : -1.0f;
-    }
+    c->output.wheel[i] = LIMIT(c->output.wheel[i], -1.0f, 1.0f);
   }
-
   for (int i = 0; i < 4; i++) {
-    if (fabsf(c->output.joint[i]) > 15.0f) {
-      c->output.joint[i] = (c->output.joint[i] > 0) ? 15.0f : -15.0f;
-    }
+    c->output.joint[i] = LIMIT(c->output.joint[i], -15.0f, 15.0f);
   }
 
   return CHASSIS_OK;
 }
-
-
diff --git a/User/module/balance_chassis.h b/User/module/balance_chassis.h
index ee6111e..e476403 100644
--- a/User/module/balance_chassis.h
+++ b/User/module/balance_chassis.h
@@ -38,19 +38,10 @@ extern "C" {
 
 typedef enum {
   CHASSIS_MODE_RELAX,            /* 放松模式，电机不输出。一般情况底盘初始化之后的模式 */
-  CHASSIS_MODE_RECOVER,                 /* 复位模式 */
-  CHASSIS_MODE_WHELL_LEG_BALANCE,      /* 轮子+腿平衡模式，底盘自我平衡 */
-  CHASSIS_MODE_JUMP,                   /* 跳跃模式，底盘跳跃 */
-  CHASSIS_MODE_ROTOR,                  /* 小陀螺模式，底盘高速旋转 */
+  CHASSIS_MODE_RECOVER,          /* 复位模式 */
+  CHASSIS_MODE_WHELL_LEG_BALANCE /* 轮子+腿平衡模式，底盘自我平衡 */
 } Chassis_Mode_t;
 
-typedef enum {
-  CHASSIS_JUMP_STATE_READY,  /* 准备跳跃 */
-  CHASSIS_JUMP_STATE_JUMPING, /* 跳跃中 */
-  CHASSIS_JUMP_STATE_LANDING, /* 着陆中 */
-  CHASSIS_JUMP_STATE_END, /* 跳跃结束 */
-} Chassis_JumpState_t;
-
 typedef struct {
   Chassis_Mode_t mode;           /* 底盘模式 */
   MoveVector_t move_vec;         /* 底盘运动向量 */
@@ -126,13 +117,6 @@ typedef struct {
   VMC_t vmc_[2]; /* 两条腿的VMC */
   LQR_t lqr[2]; /* 两条腿的LQR控制器 */
 
-  int8_t state;
-  uint64_t jump_time;
-
-
-  float angle;
-  float height;
-  
   /* 机体状态估计 */
   struct {
     float position_x;     /* 机体x位置 */
@@ -151,8 +135,6 @@ typedef struct {
     bool is_reversed;     /* 是否使用反转的零点（180度零点），影响前后方向 */
   } yaw_control;
 
-  float wz_multi; /* 小陀螺模式旋转方向 */
-
   /* PID计算的目标值 */
   struct {
     AHRS_Eulr_t chassis;
diff --git a/User/module/config.c b/User/module/config.c
index 220367a..bf04c53 100644
--- a/User/module/config.c
+++ b/User/module/config.c
@@ -24,7 +24,7 @@ Config_RobotParam_t robot_config = {
     .gimbal_param = {
         .pid = {
             .yaw_omega = {
-                .k = 1.0f,
+                .k = 2.0f,
                 .p = 1.0f,
                 .i = 0.3f,
                 .d = 0.0f,
@@ -34,8 +34,8 @@ Config_RobotParam_t robot_config = {
                 .range = -1.0f,
             },
             .yaw_angle = {
-                .k = 8.0f,
-                .p = 3.0f,
+                .k = 7.0f,
+                .p = 3.5f,
                 .i = 0.0f,
                 .d = 0.0f,
                 .i_limit = 0.0f,
@@ -54,10 +54,10 @@ Config_RobotParam_t robot_config = {
                 .range = -1.0f,
             },
             .pit_angle = {
-                .k = 5.0f,
+                .k = 2.5f,
                 .p = 5.0f,
-                .i = 2.5f,
-                .d = 0.0f,
+                .i = 0.2f,
+                .d = 0.01f,
                 .i_limit = 0.0f,
                 .out_limit = 10.0f,
                 .d_cutoff_freq = -1.0f,
@@ -66,11 +66,11 @@ Config_RobotParam_t robot_config = {
         },
         .mech_zero = {
             .yaw = 0.0f,
-            .pit = 2.12f,
+            .pit = 2.2f,
         },
         .travel = {
             .yaw = -1.0f,
-            .pit = 0.9f,
+            .pit = 0.85f,
         },
         .low_pass_cutoff_freq = {
             .out = -1.0f,
@@ -180,7 +180,7 @@ Config_RobotParam_t robot_config = {
 
     .chassis_param = {
         .yaw={
-            .k=0.0f,
+            .k=1.0f,
             .p=1.0f,
             .i=0.0f,
             .d=0.3f,
@@ -297,7 +297,7 @@ Config_RobotParam_t robot_config = {
             },
         },
 
-        .mech_zero_yaw = 4.34085676f, /* 250.5度，机械零点 */
+        .mech_zero_yaw = 1.78040409f, /* 机械零点 */
 
                 .vmc_param = {
             { // 左腿
@@ -317,18 +317,18 @@ Config_RobotParam_t robot_config = {
         },
 
 .lqr_gains = {
-    .k11_coeff = { -2.111003343424443e+02f, 2.534552823281283e+02f, -1.288428090302336e+02f, -4.837794661314790e-01f }, // theta
-    .k12_coeff = { 9.842131763802227e+00f, -7.572331320496771e+00f, -6.747008033464407e+00f, 2.794374462854655e-02f },  // d_theta
-    .k13_coeff = { -7.026854551050478e+01f, 7.582881862804882e+01f, -2.920474536554779e+01f, 1.123343465922494e+00f },  // x
-    .k14_coeff = { -7.955300118741869e+01f, 8.683186601398823e+01f, -3.503519879783562e+01f, 1.204200953017506e+00f },  // d_x
-    .k15_coeff = { 2.214748921482655e+01f, -5.719424594843836e+00f, -8.215498046486028e+00f, 3.357225411090161e+00f }, // phi
-    .k16_coeff = { -2.588732118811617e-01f, 3.189187555191166e+00f, -3.235989186139448e+00f, 9.848256812196189e-01f },  // d_phi
-    .k21_coeff = { 3.783375900877637e+02f, -3.033633007638497e+02f, 4.903946574528503e+01f, 1.550109363173939e+01f }, // theta
-    .k22_coeff = { 2.878430656512739e+01f, -2.993892895824752e+01f, 1.019545567095573e+01f, 1.119137437173934e+00f },  // d_theta
-    .k23_coeff = { 2.518975783541210e+01f, 2.088553619504979e+00f, -1.929185285401291e+01f, 8.558202445583612e+00f },  // x
-    .k24_coeff = { 2.519335578848752e+01f, 5.878465085842500e+00f, -2.359290011046876e+01f, 1.050067818606354e+01f },  // d_x
-    .k25_coeff = { 1.146427691025439e+02f, -1.303101485018965e+02f, 5.234994297700838e+01f, 1.889931627651257e+00f }, // phi
-    .k26_coeff = { 3.214791991578748e+01f, -3.467989029865478e+01f, 1.318125503363052e+01f, -3.471228203459202e-01f },  // d_phi
+    .k11_coeff = { -2.702074813939778e+02f, 2.894104138810802e+02f, -1.211372850409846e+02f, -6.933300731936785e-01f }, // theta
+    .k12_coeff = { -3.327095836963479e+00f, 5.164647957579151e+00f, -7.601554284013210e+00f, 2.552123800155830e-01f },  // d_theta
+    .k13_coeff = { -4.196624710163955e+01f, 4.127695960453792e+01f, -1.402278033829385e+01f, 7.645039434796388e-03f },  // x
+    .k14_coeff = { -5.313365798300281e+01f, 5.256471525738568e+01f, -1.848736219345810e+01f, -1.124172698659643e-03f },  // d_x
+    .k15_coeff = { -6.095849580858518e+01f, 7.441367039791133e+01f, -3.453552694561191e+01f, 7.000025215843615e+00f }, // phi
+    .k16_coeff = { -9.662388366457952e+00f, 1.288897516182337e+01f, -6.650550674687217e+00f, 1.558651627757777e+00f },  // d_phi
+    .k21_coeff = { 1.194019591863143e+02f, -7.294395555463191e+01f, -5.502401903255857e+00f, 1.056061060815681e+01f }, // theta
+    .k22_coeff = { 1.953914704492318e+01f, -1.853477522511211e+01f, 5.522863854227361e+00f, 2.440732134290017e-01f },  // d_theta
+    .k23_coeff = { -3.113451478996141e+01f, 3.917196236114254e+01f, -1.888229690044390e+01f, 4.105978636011114e+00f },  // x
+    .k24_coeff = { -3.864995803122945e+01f, 4.873841855321316e+01f, -2.361615127826612e+01f, 5.240190452941591e+00f },  // d_x
+    .k25_coeff = { 2.402815287983674e+02f, -2.353554477048087e+02f, 7.938206986720357e+01f, 7.179992245652441e-01f }, // phi
+    .k26_coeff = { 5.110194134606057e+01f, -5.057473149871059e+01f, 1.733200146622070e+01f, -2.070892022734363e-01f },  // d_phi
 },
         .theta = 0.0f,
         .x = 0.0f,
diff --git a/User/module/gimbal.c b/User/module/gimbal.c
index db190c4..b377d6b 100644
--- a/User/module/gimbal.c
+++ b/User/module/gimbal.c
@@ -33,6 +33,9 @@ static int8_t Gimbal_SetMode(Gimbal_t *g, Gimbal_Mode_t mode) {
   if (mode == g->mode)
     return GIMBAL_OK;
 
+  // 检查是否relax->absolute
+  int relax_to_absolute = (g->mode == GIMBAL_MODE_RELAX && mode == GIMBAL_MODE_ABSOLUTE);
+
   PID_Reset(&g->pid.yaw_angle);
   PID_Reset(&g->pid.yaw_omega);
   PID_Reset(&g->pid.pit_angle);
@@ -41,16 +44,15 @@ static int8_t Gimbal_SetMode(Gimbal_t *g, Gimbal_Mode_t mode) {
   LowPassFilter2p_Reset(&g->filter_out.pit, 0.0f);
 
   MOTOR_DM_Enable(&(g->param->yaw_motor));
-  
+
   AHRS_ResetEulr(&(g->setpoint.eulr)); /* 切换模式后重置设定值 */
-  // if (g->mode == GIMBAL_MODE_RELAX) {
-  //   if (mode == GIMBAL_MODE_ABSOLUTE) {
-  //     g->setpoint.eulr.yaw = g->feedback.imu.eulr.yaw;
-  //   } else if (mode == GIMBAL_MODE_RELATIVE) {
-  //     g->setpoint.eulr.yaw = g->feedback.imu.eulr.yaw;
-  //   }
-  // }
-  g->setpoint.eulr.pit = g->feedback.imu.eulr.rol;
+
+  if (relax_to_absolute) {
+    // pitch回到限位中点
+    g->setpoint.eulr.pit = 0.5f * (g->limit.pit.max + g->limit.pit.min);
+  } else {
+    g->setpoint.eulr.pit = g->feedback.imu.eulr.rol;
+  }
   g->setpoint.eulr.yaw = g->feedback.imu.eulr.yaw;
 
   g->mode = mode;
@@ -253,7 +255,7 @@ 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 * 5.0f; // 乘以减速比
+    output.torque = g->out.yaw * 5.0f;
     output.kd = 0.3f;
     MOTOR_RM_Ctrl(&g->param->pit_motor);
     MOTOR_DM_MITCtrl(&g->param->yaw_motor, &output);
diff --git a/User/module/shoot.c b/User/module/shoot.c
index c532013..10b382f 100644
--- a/User/module/shoot.c
+++ b/User/module/shoot.c
@@ -134,7 +134,7 @@ int8_t Shoot_Init(Shoot_t *s, Shoot_Params_t *param, float target_freq)
 	
     memset(&s->shoot_Anglecalu,0,sizeof(s->shoot_Anglecalu));
     memset(&s->output,0,sizeof(s->output));
-    s->target_variable.target_rpm=6000.0f;  /* 归一化目标转速 */
+    s->target_variable.target_rpm=4000.0f;  /* 归一化目标转速 */
 
 	return 0;
 }
diff --git a/User/task/ctrl_gimbal.c b/User/task/ctrl_gimbal.c
index d744431..0b90375 100644
--- a/User/task/ctrl_gimbal.c
+++ b/User/task/ctrl_gimbal.c
@@ -52,8 +52,8 @@ void Task_ctrl_gimbal(void *argument) {
 
     Gimbal_UpdateFeedback(&gimbal);
 
-    // osMessageQueueReset(task_runtime.msgq.chassis_yaw);
-    // osMessageQueuePut(task_runtime.msgq.chassis.yaw, &gimbal.feedback.motor.yaw, 0, 0);
+    osMessageQueueReset(task_runtime.msgq.chassis.yaw); // 重置消息队列，防止阻塞
+    osMessageQueuePut(task_runtime.msgq.chassis.yaw, &gimbal.feedback.motor.yaw, 0, 0);
     
     Gimbal_Control(&gimbal, &gimbal_cmd);
 
diff --git a/User/task/init.c b/User/task/init.c
index a4e11ce..db84b64 100644
--- a/User/task/init.c
+++ b/User/task/init.c
@@ -34,7 +34,7 @@ void Task_Init(void *argument) {
   /* 创建任务线程 */
   task_runtime.thread.rc = osThreadNew(Task_rc, NULL, &attr_rc);
   task_runtime.thread.atti_esit = osThreadNew(Task_atti_esit, NULL, &attr_atti_esit);
-  // task_runtime.thread.ctrl_chassis = osThreadNew(Task_ctrl_chassis, NULL, &attr_ctrl_chassis);
+  task_runtime.thread.ctrl_chassis = osThreadNew(Task_ctrl_chassis, NULL, &attr_ctrl_chassis);
   task_runtime.thread.ctrl_gimbal = osThreadNew(Task_ctrl_gimbal, NULL, &attr_ctrl_gimbal);
   task_runtime.thread.monitor = osThreadNew(Task_monitor, NULL, &attr_monitor);
   task_runtime.thread.blink = osThreadNew(Task_blink, NULL, &attr_blink);
diff --git a/utils/Simulation-master/balance/series_legs/get_k_length.m b/utils/Simulation-master/balance/series_legs/get_k_length.m
index 60b483e..5ecba2e 100644
--- a/utils/Simulation-master/balance/series_legs/get_k_length.m
+++ b/utils/Simulation-master/balance/series_legs/get_k_length.m
@@ -17,9 +17,9 @@ function K = get_k_length(leg_length)
     R1=0.068;                         %驱动轮半径
     L1=leg_length/2;                  %摆杆重心到驱动轮轴距离
     LM1=leg_length/2;                 %摆杆重心到其转轴距离
-    l1=-0.03;                          %机体质心距离转轴距离
+    l1=-0.01;                          %机体质心距离转轴距离
     mw1=0.60;                         %驱动轮质量
-    mp1=1.8;                         %杆质量
+    mp1=1.5;                         %杆质量
     M1=12.0;                          %机体质量
     Iw1=mw1*R1^2;                     %驱动轮转动惯量
     Ip1=mp1*((L1+LM1)^2+0.05^2)/12.0; %摆杆转动惯量
@@ -48,8 +48,8 @@ function K = get_k_length(leg_length)
     B=subs(B,[R,L,LM,l,mw,mp,M,Iw,Ip,IM,g],[R1,L1,LM1,l1,mw1,mp1,M1,Iw1,Ip1,IM1,9.8]);
     B=double(B);
     
-    Q=diag([1500 100 2500 1500 8000 1]);%theta d_theta x d_x phi d_phi%700 1 600 200 1000 1
-    R=[250 0;0 50];                %T Tp
+    Q=diag([500 1 600 200 8000 100]);%theta d_theta x d_x phi d_phi%700 1 600 200 1000 1
+    R=[200 0;0 60];                %T Tp
     
     K=lqr(A,B,Q,R);