From eef7001e2b001f5a3259128c1ec5165677190d25 Mon Sep 17 00:00:00 2001
From: Robofish <1683502971@qq.com>
Date: Wed, 17 Sep 2025 07:38:59 +0800
Subject: [PATCH] =?UTF-8?q?=E8=B5=B7=E9=A3=9E=E4=BA=86=E6=97=8B=E8=BD=AC?=
 =?UTF-8?q?=E4=BA=86?=
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---
 User/module/balance_chassis.c |  2 +-
 User/module/config.c          | 16 ++++++++--------
 2 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/User/module/balance_chassis.c b/User/module/balance_chassis.c
index 5c199a1..8a51cb5 100644
--- a/User/module/balance_chassis.c
+++ b/User/module/balance_chassis.c
@@ -395,7 +395,7 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
         // 腿长控制力 = LQR摆杆力矩的径向分量 + PID腿长控制输出 + 基础支撑力
         virtual_force[leg] = Tp[leg] * sinf(leg_theta[leg]) + 
                             pid_output + // PID腿长控制输出
-                            35.0f; // 基础支撑力
+                            45.0f; // 基础支撑力
         
         // VMC逆解算
         if (VMC_InverseSolve(&c->vmc_[leg], virtual_force[leg], Tp[leg]) == 0) {
diff --git a/User/module/config.c b/User/module/config.c
index a547e00..53eb9f1 100644
--- a/User/module/config.c
+++ b/User/module/config.c
@@ -69,14 +69,14 @@ Config_RobotParam_t robot_config = {
     
     .chassis_param = {
         .leglength={
-            .k=1.0f,
-            .p=10.0f,
-            .i=0.0f,
-            .d=0.0f,
-            .i_limit=0.0f,
-            .out_limit=10.0f,
-            .d_cutoff_freq=-1.0f,
-            .range=-1.0f,
+            .k = 0.0f,
+            .p = 10.0f,
+            .i = 0.0f,
+            .d = 0.0f,
+            .i_limit = 0.0f,
+            .out_limit = 10.0f,
+            .d_cutoff_freq = -1.0f,
+            .range = -1.0f,
         },
         .yaw={
             .k=0.0f,