TuxMonkey/bf_original_balance_chassis
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小陀螺时移动速度置0

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kai
2024-05-23 23:22:49 +08:00
parent 845942b3d0
commit 613510642c
7 changed files with 112 additions and 98 deletions
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2
application/gimbal/gimbal.c
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@@ -36,7 +36,6 @@ void GimbalInit()
.Derivative_LPF_RC=0,//0.01
.Improve = PID_Trapezoid_Intergral |PID_ChangingIntegrationRate| PID_Integral_Limit |PID_Derivative_On_Measurement | PID_OutputFilter |PID_DerivativeFilter,
.IntegralLimit = 4.0,
.MaxOut = 20,
},
.speed_PID = {
@@ -61,7 +60,6 @@ void GimbalInit()
.close_loop_type = ANGLE_LOOP | SPEED_LOOP,
.motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
.feedforward_flag = SPEED_FEEDFORWARD,
},
.motor_type = GM6020};
// PITCH