From 5693c30faf3d96797f564a6632e1f4b07dc8b87d Mon Sep 17 00:00:00 2001
From: TuxMonkey <8196772+tuxmonkey@user.noreply.gitee.com>
Date: Wed, 15 Jul 2026 16:54:22 +0800
Subject: [PATCH] =?UTF-8?q?=E5=B0=8F=E6=9D=BF=E5=87=B3=20=E5=AD=98?=
 =?UTF-8?q?=E6=A1=A3=E3=80=82?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 application/chassis/balance.c | 11 ++++++-----
 1 file changed, 6 insertions(+), 5 deletions(-)

diff --git a/application/chassis/balance.c b/application/chassis/balance.c
index 7a02874..3ef761f 100644
--- a/application/chassis/balance.c
+++ b/application/chassis/balance.c
@@ -24,10 +24,10 @@
 #include "math.h"
 #include "string.h"
 
-#define STOOL_SPEED_REF 1.5f
-#define STOOL_YAW_RATE_REF 3.5f
-#define STOOL_ACC_REF 4.0f
-#define STOOL_BRAKE_ACC_REF 8.0f
+#define STOOL_SPEED_REF 1.8f
+#define STOOL_YAW_RATE_REF 2.4f
+#define STOOL_ACC_REF 6.5f
+#define STOOL_BRAKE_ACC_REF 16.0f
 #define STOOL_PITCH_K 50.0f
 #define STOOL_PITCH_W_K 12.5f
 #define STOOL_VEL_K 6.2f
@@ -343,7 +343,8 @@ static void ControlSwitch()
         return;
     }
 
-    if (switch_is_down(rc_data[TEMP].rc.switch_right))
+    uint8_t switch_right = rc_data[TEMP].rc.switch_right;
+    if (!switch_is_up(switch_right) && !switch_is_mid(switch_right))
         return;
 
     float chassis_vol = referee_data->PowerHeatData.chassis_voltage * 0.001f;