神秘小参数

User/module/config.c

@@ -131,7 +131,7 @@ Config_RobotParam_t robot_config = {
                 .range = -1.0f,
             },
             .pit_angle = {
-                .k = 2.0f,
+                .k = 5.0f,
                 .p = 5.0f,
                 .i = 2.5f,
                 .d = 0.0f,
@@ -171,10 +171,10 @@ Config_RobotParam_t robot_config = {
     .rc_can_param = {
         .can = BSP_CAN_1,
         .mode = RC_CAN_MODE_MASTER,
-        .joy_id = 0x250,
-        .sw_id = 0x251,
-        .mouse_id = 0x252,
-        .keyboard_id = 0x253,
+        .joy_id = 0x30,
+        .sw_id = 0x31,
+        .mouse_id = 0x32,
+        .keyboard_id = 0x33,
     },
 };
 

User/module/gimbal.c

@@ -239,7 +239,7 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
 void Gimbal_Output(Gimbal_t *g){
     MOTOR_RM_SetOutput(&g->param->pit_motor, g->out.pit);
     MOTOR_MIT_Output_t output = {0};
-    output.torque = g->out.yaw * 6.0f; // 乘以减速比
+    output.torque = g->out.yaw * 5.0f; // 乘以减速比
     output.kd = 0.5f;
     MOTOR_RM_Ctrl(&g->param->pit_motor);
     MOTOR_DM_MITCtrl(&g->param->yaw_motor, &output);