TuxMonkey/bf_original_balance_chassis
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修复INS_Task双重循环NAN的问题，暂时关闭了急停模式

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This commit is contained in:
NeoZng
2022-12-08 23:08:28 +08:00
parent fe85ae5a6e
commit 9f09002235
8 changed files with 101 additions and 94 deletions
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38
application/shoot/shoot.c
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@@ -28,16 +28,15 @@ void ShootInit()
.tx_id = 1,
},
.controller_param_init_config = {
.angle_PID = {
.Kd = 10,
.Ki = 1,
.Kd = 2,
},
.speed_PID = {
.Kp=1,
.Ki=0,
.Kd=0,
},
.current_PID = {
.Kp=1,
.Ki=0,
.Kd=0,
},
},
.controller_setting_init_config = {
@@ -56,16 +55,15 @@ void ShootInit()
.tx_id = 2,
},
.controller_param_init_config = {
.angle_PID = {
.Kd = 10,
.Ki = 1,
.Kd = 2,
},
.speed_PID = {
.Kp=1,
.Ki=0,
.Kd=0,
},
.current_PID = {
.Kp=1,
.Ki=0,
.Kd=0,
},
},
.controller_setting_init_config = {
@@ -90,13 +88,19 @@ void ShootInit()
.Kd = 2,
},
.angle_PID = {
.Kp=1,
.Ki=0,
.Kd=0,
},
.speed_PID = {
.Kp=1,
.Ki=0,
.Kd=0,
},
.current_PID = {
.Kp=1,
.Ki=0,
.Kd=0,
},
},
.controller_setting_init_config = {