From ec50f074d559ea0225ed95904d81ff11f7ce9cf3 Mon Sep 17 00:00:00 2001
From: Robofish <1683502971@qq.com>
Date: Sun, 15 Mar 2026 23:33:26 +0800
Subject: [PATCH] =?UTF-8?q?=E8=87=AA=E5=8A=A8=E4=B8=8A=E5=8F=B0=E9=98=B6?=
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---
 User/module/config.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/User/module/config.c b/User/module/config.c
index ce71565..d945449 100644
--- a/User/module/config.c
+++ b/User/module/config.c
@@ -451,7 +451,7 @@ Config_RobotParam_t robot_config = {
     .climb = {
         .forward_speed = 1.5f,         /* 上台阶前进速度 (m/s) */
         .theta_retract_threshold = 0.9f, /* 腿后摆收腿阈值 (rad)，约30° */
-        .tp_scale = 0.1f,             /* 摆力矩缩放：削弱到10%，让腿自由后摆 */
+        .tp_scale = 0.08f,             /* 摆力矩缩放：削弱到10%，让腿自由后摆 */
         .settle_time_ms = 500,        /* 收腿后稳定时间 (ms) */
     },