From 709e66dcd4057604b52da4ba4452f709022c9cde Mon Sep 17 00:00:00 2001
From: TuxMonkey <8196772+tuxmonkey@user.noreply.gitee.com>
Date: Wed, 15 Jul 2026 14:14:15 +0800
Subject: [PATCH] =?UTF-8?q?=E8=BD=AE=E7=94=B5=E6=9C=BAID=E6=9E=81=E6=80=A7?=
 =?UTF-8?q?=20IMU=E6=AD=A3=E8=B4=9F=E4=BF=AE=E6=94=B9?=
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---
 application/chassis/balance.c | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/application/chassis/balance.c b/application/chassis/balance.c
index d58294c..cbba77b 100644
--- a/application/chassis/balance.c
+++ b/application/chassis/balance.c
@@ -28,10 +28,10 @@
 #define STOOL_YAW_RATE_REF 3.5f
 #define STOOL_ACC_REF 4.0f
 #define STOOL_BRAKE_ACC_REF 8.0f
-#define STOOL_PITCH_K 30.0f
-#define STOOL_PITCH_W_K 8.5f
-#define STOOL_VEL_K 4.5f
-#define STOOL_STOP_DIST_K 2.0f
+#define STOOL_PITCH_K 24.0f
+#define STOOL_PITCH_W_K 6.8f
+#define STOOL_VEL_K 3.2f
+#define STOOL_STOP_DIST_K 1.2f
 #define STOOL_VEL_LPF_RC 0.03f
 #define STOOL_WHEEL_TORQUE_LIMIT 25.0f
 #define STOOL_RC_DEADBAND 40