TuxMonkey/bf_original_balance_chassis
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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

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kai
2024-04-29 17:07:58 +08:00
parent c6f4a99712
commit 410c23e527
2 changed files with 4 additions and 4 deletions
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4
application/chassis/balance.c
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@@ -160,8 +160,8 @@ void BalanceInit()
// 抗劈叉 // 抗劈叉
PID_Init_Config_s anti_crash_pid_conf = { PID_Init_Config_s anti_crash_pid_conf = {
.Kp = 8, .Kp = 10,
.Kd = 2, .Kd = 1,
.Ki = 0.0, .Ki = 0.0,
.MaxOut = 10, .MaxOut = 10,
.DeadBand = 0.001f, .DeadBand = 0.001f,

4
application/chassis/balance.h
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@@ -17,8 +17,8 @@
#define CENTER_IMU_L 0.1f #define CENTER_IMU_L 0.1f
#define CENTER_IMU_H -0.055f #define CENTER_IMU_H -0.055f
#define VEL_PROCESS_NOISE 25 // 速度过程噪声 #define VEL_PROCESS_NOISE 10 // 速度过程噪声
#define VEL_MEASURE_NOISE 800 // 速度测量噪声 #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 // 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 // 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 #define ACC_PROCESS_NOISE 2000 // 加速度过程噪声