TuxMonkey/bf_original_balance_chassis
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加了个REF Pitch补偿一下 看着还不错

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TuxMonkey
2026-07-15 14:43:13 +08:00
parent 12be1e96de
commit eb858afc17
1 changed files with 5 additions and 5 deletions
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10
application/chassis/balance.c
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@@ -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