TuxMonkey/half-steering-basic-framework
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待测版本（ID修改完成）

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fcl
2026-03-11 19:44:53 +08:00
parent 09802b3daa
commit 0e711f1fe8
2 changed files with 3 additions and 3 deletions
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application/gimbal/gimbal.c
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@@ -27,10 +27,10 @@ void GimbalInit()
.controller_param_init_config = {
.angle_PID = {
//.Kp = 0.685, // 8
.Kp = 0.685, // 8
.Kp = 0.585, // 8
//.Ki = 0.315,
.Ki = 0.25,
.Kd = 0.022,
.Kd = 0.03,
//.DeadBand = 0.1,
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement | PID_DerivativeFilter | PID_ChangingIntegrationRate,
.IntegralLimit = 1060,