起飞了旋转了

2025-09-17 07:38:59 +08:00 · 2025-09-17 07:38:59 +08:00 · eef7001e2b
commit eef7001e2b
parent de8bc5ac8c
2 changed files with 9 additions and 9 deletions
--- 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) {
--- a/User/module/config.c
+++ b/User/module/config.c
@ -69,7 +69,7 @@ Config_RobotParam_t robot_config = {
    
    .chassis_param = {
        .leglength={
-            .k=1.0f,
+            .k = 0.0f,
            .p = 10.0f,
            .i = 0.0f,
            .d = 0.0f,