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起飞了旋转了

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Robofish 2025-09-17 07:38:59 +08:00
parent de8bc5ac8c
commit eef7001e2b
2 changed files with 9 additions and 9 deletions
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2
User/module/balance_chassis.c
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@ -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 // 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]) + virtual_force[leg] = Tp[leg] * sinf(leg_theta[leg]) +
pid_output + // PID腿长控制输出 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 // VMC逆解算
if (VMC_InverseSolve(&c->vmc_[leg], virtual_force[leg], Tp[leg]) == 0) { if (VMC_InverseSolve(&c->vmc_[leg], virtual_force[leg], Tp[leg]) == 0) {

16
User/module/config.c
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@ -69,14 +69,14 @@ Config_RobotParam_t robot_config = {
.chassis_param = { .chassis_param = {
.leglength={ .leglength={
.k=1.0f, .k = 0.0f,
.p=10.0f, .p = 10.0f,
.i=0.0f, .i = 0.0f,
.d=0.0f, .d = 0.0f,
.i_limit=0.0f, .i_limit = 0.0f,
.out_limit=10.0f, .out_limit = 10.0f,
.d_cutoff_freq=-1.0f, .d_cutoff_freq = -1.0f,
.range=-1.0f, .range = -1.0f,
}, },
.yaw={ .yaw={
.k=0.0f, .k=0.0f,