TuxMonkey/half-steering-basic-framework
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半舵旗舰版

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guoxy06
2026-05-26 19:43:23 +08:00
parent 72df1a2654
commit 2b18d60476
4 changed files with 15 additions and 15 deletions
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22
application/gimbal/gimbal.c
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@@ -85,12 +85,12 @@ void GimbalInit()
// },
.controller_param_init_config = {
.angle_PID = {
.Kp = 0.75, //0.55
.Ki = 0.05,//0.05
.Kd = 0.02,//0.02
.Kp = 0.53, //0.55
.Ki = 0.1,//0.05
.Kd = 0.0148,//0.02
.CoefA =0.5,//0.5
.CoefB = 0.6,//0.6
.Output_LPF_RC = 0.01,
.Output_LPF_RC = 0.0068,
.DeadBand = 0.005,//0.02
.Derivative_LPF_RC=0.01,//0.008
.Improve = PID_Trapezoid_Intergral |PID_ChangingIntegrationRate| PID_Integral_Limit |PID_Derivative_On_Measurement | PID_OutputFilter |PID_DerivativeFilter,
@@ -98,15 +98,15 @@ void GimbalInit()
.MaxOut = 600,
},
.speed_PID = {
.Kp = 500,//22000
.Ki = 0,//
.Kd =0.0005,
// .CoefA = 0.8,
// .CoefB = 0.1,
.Kp = 3400,//22000
.Ki = 15,//
.Kd =1,
.CoefA = 0.8,
.CoefB = 0.1,
.Output_LPF_RC = 0.002,//0.002
.Improve = PID_Trapezoid_Intergral |PID_Integral_Limit |PID_Derivative_On_Measurement | PID_OutputFilter,
.IntegralLimit = 5000,
.MaxOut = 20000,
.IntegralLimit = 6000,
.MaxOut = 30000,
},
.other_angle_feedback_ptr = &gimba_IMU_data->Pitch,
// 还需要增加角速度额外反馈指针,注意方向,ins_task.md中有c板的bodyframe坐标系说明