TuxMonkey/half-steering-basic-framework
1
0
Fork 0
mirror of https://gitee.com/dlmu-cone/half-steering-basic-framework synced 2026-10-23 17:42:20 +08:00
Code Issues Packages Projects Releases Wiki Activity

damiao motor driver init_1.1

Browse Source
This commit is contained in:
Zorua
2026-03-15 13:15:49 +08:00
parent 3afa755680
commit 4ac9cba1d7
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
application/gimbal/gimbal.c
View File

@@ -83,7 +83,7 @@ void GimbalInit()
.Kd = 0, // 0
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
.IntegralLimit = 2500,
.MaxOut = 20000,
.MaxOut = 8000,//20000
},
.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