From c522e563afadf7758b5986e7736184169c0be2da Mon Sep 17 00:00:00 2001
From: Robofish <1683502971@qq.com>
Date: Sun, 15 Mar 2026 15:10:55 +0800
Subject: [PATCH] fix

---
 User/module/balance_chassis.c | 20 ++++++++------------
 1 file changed, 8 insertions(+), 12 deletions(-)

diff --git a/User/module/balance_chassis.c b/User/module/balance_chassis.c
index bebb653..7a2efce 100644
--- a/User/module/balance_chassis.c
+++ b/User/module/balance_chassis.c
@@ -155,17 +155,12 @@ static int8_t Chassis_SetMode(Chassis_t *c, Chassis_Mode_t mode) {
   Chassis_ResetControllers(c);
   Chassis_SelectYawZeroPoint(c);
 
-  /* RELAX -> BALANCE：根据 pitch 角度判断是否需要自起 */
+  /* RELAX -> BALANCE：pitch过大时保持RELAX，避免进入未实现的RECOVER */
   if (mode == CHASSIS_MODE_WHELL_LEG_BALANCE && c->mode == CHASSIS_MODE_RELAX) {
     float pitch = c->feedback.imu.euler.pit;
-    /* pitch 绝对值大于 0.8rad（约46度）认为是倒地，需要自起 */
-    if (fabsf(pitch) > 0.2f) {
-      /* 根据 theta 判断腿朝上还是朝下 */
-      float theta_l = c->vmc_[0].leg.theta;
-      float theta_r = c->vmc_[1].leg.theta;
-      c->recover.state[0] = (fabsf(theta_l) > (float)M_PI_2) ? RECOVER_FLIP : RECOVER_STRETCH;
-      c->recover.state[1] = (fabsf(theta_r) > (float)M_PI_2) ? RECOVER_FLIP : RECOVER_STRETCH;
-      c->mode = CHASSIS_MODE_RECOVER;
+    if (fabsf(pitch) > 0.8f) {
+      /* pitch过大，机体未扶正，保持RELAX */
+      Chassis_MotorRelax(c);
       return CHASSIS_OK;
     }
     /* 否则直接进入平衡模式 */
@@ -704,9 +699,10 @@ int8_t Chassis_Control(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
       Chassis_VMCControl(c, c_cmd);
       break;
 
-    // case CHASSIS_MODE_RECOVER: 
-    //   Chassis_RecoverControl(c);
-    //   break;
+    case CHASSIS_MODE_RECOVER:
+      /* 自起功能未实现，安全放松电机 */
+      Chassis_MotorRelax(c);
+      break;
 
     case CHASSIS_MODE_WHELL_LEG_BALANCE:
       Chassis_LQRControl(c, c_cmd);