修复INS_Task双重循环NAN的问题，暂时关闭了急停模式

2026-07-24 03:27:45 +08:00 · 2022-12-08 23:08:28 +08:00
parent fe85ae5a6e
commit 9f09002235
8 changed files with 101 additions and 94 deletions
--- a/application/chassis/chassis.c
+++ b/application/chassis/chassis.c
@@ -62,10 +62,14 @@ void ChassisInit()
        .can_init_config.can_handle=&hcan2,
        .controller_param_init_config = {
            .speed_PID = {
-
+                .Kp=1,
+                .Ki=0,
+                .Kd=0,
            },
            .current_PID = {
-
+                .Kp=1,
+                .Ki=0,
+                .Kd=0,
            },
        },
        .controller_setting_init_config = {