50

2026-03-15 21:32:19 +08:00 · 2026-03-15 21:32:19 +08:00 · c468fa59ce
commit c468fa59ce
parent 4773c252f2
1 changed files with 1 additions and 1 deletions
--- 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 */