From d0727de06f7d87ec58dd6faa0784490ed6faa4b3 Mon Sep 17 00:00:00 2001
From: Robofish <1683502971@qq.com>
Date: Wed, 1 Oct 2025 18:50:38 +0800
Subject: [PATCH] =?UTF-8?q?=E6=94=B9=E5=AE=8Cbug?=
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---
 User/module/config.c |  2 +-
 User/module/gimbal.c | 21 ++++++---------------
 2 files changed, 7 insertions(+), 16 deletions(-)

diff --git a/User/module/config.c b/User/module/config.c
index ec473ae..91f7035 100644
--- a/User/module/config.c
+++ b/User/module/config.c
@@ -141,7 +141,7 @@ Config_RobotParam_t robot_config = {
             .gyro = 1000.0f,
         },
         .pit_motor ={
-            .can = BSP_CAN_1,
+            .can = BSP_CAN_2,
             .id = 0x206,
             .gear = false,
             .module = MOTOR_GM6020,
diff --git a/User/module/gimbal.c b/User/module/gimbal.c
index f96c444..69a10c3 100644
--- a/User/module/gimbal.c
+++ b/User/module/gimbal.c
@@ -209,25 +209,16 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
     break;
 
   case GIMBAL_MODE_ABSOLUTE:
-    // yaw_omega_set_point = PID_Calc(&(g->pid.yaw_angle), g->setpoint.eulr.yaw,
-    //                                g->feedback.imu.eulr.yaw, 0.0f, g->dt);
-    // g->out.yaw = PID_Calc(&(g->pid.pit_omega), yaw_omega_set_point,
-    //                       g->feedback.imu.gyro.z, 0.f, g->dt);
-
-    // pit_omega_set_point = PID_Calc(&(g->pid.pit_angle), g->setpoint.eulr.pit,
-    //                                g->feedback.imu.eulr.rol, 0.0f, g->dt);
-    // g->out.pit = PID_Calc(&(g->pid.pit_omega), pit_omega_set_point,
-    //                       g->feedback.imu.gyro.y, 0.f, g->dt);
-    // yaw_omega_set_point = PID_Calc(&(g->pid.yaw_angle), g->setpoint.eulr.yaw,
-    //                                g->feedback.motor.yaw.rotor_abs_angle, 0.0f, g->dt);
-    // g->out.yaw = PID_Calc(&(g->pid.pit_omega), yaw_omega_set_point,
-    //                       g->feedback.imu.gyro.z, 0.f, g->dt);
+    yaw_omega_set_point = PID_Calc(&(g->pid.yaw_angle), g->setpoint.eulr.yaw,
+                                   g->feedback.imu.eulr.yaw, 0.0f, g->dt);
+    g->out.yaw = PID_Calc(&(g->pid.pit_omega), yaw_omega_set_point,
+                          g->feedback.imu.gyro.z, 0.f, g->dt);
 
     pit_omega_set_point = PID_Calc(&(g->pid.pit_angle), g->setpoint.eulr.pit,
-                                   g->feedback.motor.pit.rotor_abs_angle, 0.0f, g->dt);
+                                   g->feedback.imu.eulr.rol, 0.0f, g->dt);
     g->out.pit = PID_Calc(&(g->pid.pit_omega), pit_omega_set_point,
                           g->feedback.imu.gyro.y, 0.f, g->dt);
-    // g->out.pit = sinf(g->lask_wakeup/300000.0f);
+
               
     break;