增大抗劈叉增益，增大速度测量噪声，减小过程噪声，多相信加速度计

2026-07-24 19:47:44 +08:00 · 2024-04-29 17:07:58 +08:00
parent c6f4a99712
commit 410c23e527
2 changed files with 4 additions and 4 deletions
--- 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,