TuxMonkey/bf_original_balance_chassis
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chenfu
2024-05-23 13:41:20 +08:00
parent b42e603e0e
commit 845942b3d0
4 changed files with 45 additions and 31 deletions
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20
application/gimbal/gimbal.c
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@@ -26,26 +26,26 @@ void GimbalInit()
},
.controller_param_init_config = {
.angle_PID = {
.Kp = 0.8, //0.5
.Ki = 6.0,//0
.Kd = 0.0,//0
.CoefA =10.0,//0
.CoefB = 0.5,//0
.Kp = 0.5, //1.0
.Ki = 0.0,//0.8
.Kd = 0.0,//0.005
.CoefA =0.0,//4.0
.CoefB = 0.0,//0.5
.Output_LPF_RC = 0,
.DeadBand = 0.0,//0
.Derivative_LPF_RC=0.0,//0
.Derivative_LPF_RC=0,//0.01
.Improve = PID_Trapezoid_Intergral |PID_ChangingIntegrationRate| PID_Integral_Limit |PID_Derivative_On_Measurement | PID_OutputFilter |PID_DerivativeFilter,
.IntegralLimit = 5.0,
.IntegralLimit = 4.0,
.MaxOut = 20,
},
.speed_PID = {
.Kp = 25000,//14000
.Kp = 14000,//22500
.Ki = 0,//
.Kd =0,
// .CoefA = 0.8,
// .CoefB = 0.1,
.Output_LPF_RC = 0.0,//0
.Output_LPF_RC = 0.002,//0
.Improve = PID_Trapezoid_Intergral |PID_Integral_Limit |PID_Derivative_On_Measurement | PID_OutputFilter,
.IntegralLimit = 0,
.MaxOut = 20000,
@@ -84,7 +84,7 @@ void GimbalInit()
.MaxOut = 10,//600
},
.speed_PID = {
.Kp=13000,//10000
.Kp=10000,//10000
.Ki =0,//0
.Kd =0.0,//0
.CoefA =0,//0