From c468fa59ce063eab38d85e5d3fa5877b92bcd24d Mon Sep 17 00:00:00 2001
From: Robofish <1683502971@qq.com>
Date: Sun, 15 Mar 2026 21:32:19 +0800
Subject: [PATCH] 50

---
 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 dd05833..09f22eb 100644
--- a/User/module/balance_chassis.c
+++ b/User/module/balance_chassis.c
@@ -491,7 +491,7 @@ static void Chassis_ClimbControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
       float theta_abs = fabsf(avg_theta);
       float contact_angle = c->param->climb.theta_retract_threshold * 0.5f;
       float tp_min = c->param->climb.tp_scale;
-      float tp_initial = 0.8f;  /* 初始Tp缩放，刚进入就削弱20% */
+      float tp_initial = 0.5f;  /* 初始Tp缩放，刚进入就削弱50% */
       float dynamic_scale;
       if (theta_abs < contact_angle) {
         dynamic_scale = tp_initial;  /* 未撞到，从80%开始 */