TuxMonkey/half-steering-basic-framework
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damiao motor driver init_1.1

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Zorua
2026-03-15 13:15:49 +08:00
parent 3afa755680
commit 4ac9cba1d7
1 changed files with 1 additions and 1 deletions
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application/gimbal/gimbal.c
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@@ -83,7 +83,7 @@ void GimbalInit()
.Kd = 0, // 0 .Kd = 0, // 0
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement, .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
.IntegralLimit = 2500, .IntegralLimit = 2500,
.MaxOut = 20000, .MaxOut = 8000,//20000
}, },
.other_angle_feedback_ptr = &gimba_IMU_data->Pitch, .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 // 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