From 410c23e527bab043c5d0b40622470657f1231748 Mon Sep 17 00:00:00 2001
From: kai <1797003616@qq.com>
Date: Mon, 29 Apr 2024 17:07:58 +0800
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---
 application/chassis/balance.c | 4 ++--
 application/chassis/balance.h | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/application/chassis/balance.c b/application/chassis/balance.c
index 98b6a63..5e70fe3 100644
--- a/application/chassis/balance.c
+++ b/application/chassis/balance.c
@@ -160,8 +160,8 @@ void BalanceInit()
 
     // 抗劈叉
     PID_Init_Config_s anti_crash_pid_conf = {
-        .Kp = 8,
-        .Kd = 2,
+        .Kp = 10,
+        .Kd = 1,
         .Ki = 0.0,
         .MaxOut = 10,
         .DeadBand = 0.001f,
diff --git a/application/chassis/balance.h b/application/chassis/balance.h
index a03b3ef..2c50350 100644
--- a/application/chassis/balance.h
+++ b/application/chassis/balance.h
@@ -17,8 +17,8 @@
 #define CENTER_IMU_L 0.1f
 #define CENTER_IMU_H -0.055f
 
-#define VEL_PROCESS_NOISE 25  // 速度过程噪声
-#define VEL_MEASURE_NOISE 800 // 速度测量噪声
+#define VEL_PROCESS_NOISE 10  // 速度过程噪声
+#define VEL_MEASURE_NOISE 2000 // 速度测量噪声
 // 同时估计加速度和速度时对加速度的噪声
 // 更好的方法是设置为动态,当有冲击时/加加速度大时更相信轮速
 #define ACC_PROCESS_NOISE 2000 // 加速度过程噪声