TuxMonkey/half-steering-basic-framework
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guoxy06
2026-04-04 12:00:10 +08:00
parent c471f1b196
commit 0029810204
4 changed files with 34 additions and 33 deletions
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8
application/gimbal/gimbal.c
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@@ -85,9 +85,9 @@ void GimbalInit()
// },
.controller_param_init_config = {
.angle_PID = {
.Kp = 1.00, //0.90
.Kp = 1, //0.90
.Ki = 0.05,//0.05
.Kd = 0.02,//0.02
.Kd = 0.03,//0.02
.CoefA =0.5,//0.5
.CoefB = 0.6,//0.6
.Output_LPF_RC = 0.01,
@@ -98,8 +98,8 @@ void GimbalInit()
.MaxOut = 600,
},
.speed_PID = {
.Kp = 500,//22000
.Ki = 0,//
.Kp = 800,//22000
.Ki = 0.05,//
.Kd =0.0005,
// .CoefA = 0.8,
// .CoefB = 0.1,