From eb858afc171b58c53abb0bd16f8082382959c1fc Mon Sep 17 00:00:00 2001
From: TuxMonkey <8196772+tuxmonkey@user.noreply.gitee.com>
Date: Wed, 15 Jul 2026 14:43:13 +0800
Subject: [PATCH] =?UTF-8?q?=E5=8A=A0=E4=BA=86=E4=B8=AAREF=20Pitch=E8=A1=A5?=
 =?UTF-8?q?=E5=81=BF=E4=B8=80=E4=B8=8B=20=E7=9C=8B=E7=9D=80=E8=BF=98?=
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---
 application/chassis/balance.c | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/application/chassis/balance.c b/application/chassis/balance.c
index 097df29..7a02874 100644
--- a/application/chassis/balance.c
+++ b/application/chassis/balance.c
@@ -28,11 +28,11 @@
 #define STOOL_YAW_RATE_REF 3.5f
 #define STOOL_ACC_REF 4.0f
 #define STOOL_BRAKE_ACC_REF 8.0f
-#define STOOL_PITCH_K 24.0f
-#define STOOL_PITCH_W_K 6.8f
-#define STOOL_VEL_K 3.2f
-#define STOOL_STOP_DIST_K 0.0f
-#define STOOL_PITCH_REF -0.05f
+#define STOOL_PITCH_K 50.0f
+#define STOOL_PITCH_W_K 12.5f
+#define STOOL_VEL_K 6.2f
+#define STOOL_STOP_DIST_K 3.0f
+#define STOOL_PITCH_REF -0.10f
 #define STOOL_VEL_LPF_RC 0.03f
 #define STOOL_WHEEL_TORQUE_LIMIT 25.0f
 #define STOOL_RC_DEADBAND 40