From a8d01e7f749e374289c9f67de062f7471d59da47 Mon Sep 17 00:00:00 2001
From: Robofish <1683502971@qq.com>
Date: Sun, 15 Mar 2026 17:12:53 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E9=99=80=E8=9E=BA=E7=A7=BB=E5=8A=A8?=
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---
 User/module/balance_chassis.c | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/User/module/balance_chassis.c b/User/module/balance_chassis.c
index ea7b3ef..f35a311 100644
--- a/User/module/balance_chassis.c
+++ b/User/module/balance_chassis.c
@@ -767,11 +767,11 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
 
   /* ==================== 速度控制 ==================== */
   if (c_cmd->mode == CHASSIS_MODE_BALANCE_ROTOR) {
-    /* 小陀螺平移：将世界坐标系期望速度投影到机体坐标系 */
-    float yaw_angle = c->feedback.imu.euler.yaw;
+    /* 小陀螺平移：将云台坐标系（用户视角）速度投影到机体坐标系 */
+    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 * cosf(yaw_angle) + world_vy * sinf(yaw_angle);
+    c->chassis_state.target_velocity_x = world_vx * cosf(gimbal_offset) + world_vy * sinf(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 {