TuxMonkey/bf_original_balance_chassis
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遥控器键鼠

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chenfu
2024-05-23 16:27:59 +08:00
parent dbf246a750
commit b42e603e0e
4 changed files with 144 additions and 71 deletions
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40
application/gimbal/gimbal.c
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@@ -26,26 +26,26 @@ void GimbalInit()
},
.controller_param_init_config = {
.angle_PID = {
.Kp = 0.5, //0.55
.Ki = 0.0,//0.05
.Kd = 0.0,//0.02
.CoefA =0.0,//0.5
.CoefB = 0.0,//0.6
.Kp = 0.8, //0.5
.Ki = 6.0,//0
.Kd = 0.0,//0
.CoefA =10.0,//0
.CoefB = 0.5,//0
.Output_LPF_RC = 0,
.DeadBand = 0.0,//0.02
.Derivative_LPF_RC=0.0,//0.008
.DeadBand = 0.0,//0
.Derivative_LPF_RC=0.0,//0
.Improve = PID_Trapezoid_Intergral |PID_ChangingIntegrationRate| PID_Integral_Limit |PID_Derivative_On_Measurement | PID_OutputFilter |PID_DerivativeFilter,
.IntegralLimit = 0.0,
.IntegralLimit = 5.0,
.MaxOut = 400,
.MaxOut = 20,
},
.speed_PID = {
.Kp = 15000,//22000
.Kp = 25000,//14000
.Ki = 0,//
.Kd =0,
// .CoefA = 0.8,
// .CoefB = 0.1,
.Output_LPF_RC = 0.0,//0.002
.Output_LPF_RC = 0.0,//0
.Improve = PID_Trapezoid_Intergral |PID_Integral_Limit |PID_Derivative_On_Measurement | PID_OutputFilter,
.IntegralLimit = 0,
.MaxOut = 20000,
@@ -72,7 +72,7 @@ void GimbalInit()
},
.controller_param_init_config = {
.angle_PID = {
.Kp =0.4,//0.4
.Kp =0.6,//0.4
.Ki = 0.0,//0.15
.Kd = 0.0,//0.006
.CoefA = 0.0,//0.5
@@ -81,17 +81,17 @@ void GimbalInit()
.Output_LPF_RC = 0.0,//0.01
.Improve = PID_Trapezoid_Intergral |PID_ChangingIntegrationRate| PID_Integral_Limit| PID_OutputFilter|PID_DerivativeFilter,
.IntegralLimit =1,//1
.MaxOut = 600,//600
.MaxOut = 10,//600
},
.speed_PID = {
.Kp=10000,//14000
.Kp=13000,//10000
.Ki =0,//0
.Kd =0.0,//0.0005
.CoefA =0,//1500
.CoefB =0,//2000
.Output_LPF_RC = 0.0,//0.005
.Kd =0.0,//0
.CoefA =0,//0
.CoefB =0,//0
.Output_LPF_RC = 0.0,//0
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_OutputFilter,
.IntegralLimit =3000,//3000
.IntegralLimit =3000,//0
.MaxOut = 20000,//20000
},
.other_angle_feedback_ptr = &gimba_IMU_data->Pitch,
@@ -137,7 +137,7 @@ void GimbalTask()
// DJIMotorSetFeedfoward(yaw_motor,SPEED_FEEDFORWARD);
DJIMotorEnable(yaw_motor);
DJIMotorEnable(pitch_motor);
DJIMotorChangeFeed(yaw_motor, ANGLE_LOOP, OTHER_FEED);
//DJIMotorChangeFeed(yaw_motor, ANGLE_LOOP, OTHER_FEED);
DJIMotorChangeFeed(yaw_motor, SPEED_LOOP, OTHER_FEED);
DJIMotorChangeFeed(pitch_motor, ANGLE_LOOP, OTHER_FEED);
DJIMotorChangeFeed(pitch_motor, SPEED_LOOP, OTHER_FEED);