damiao motor driver init_1

application/gimbal/gimbal.c

@@ -66,7 +66,7 @@ void GimbalInit()
     Motor_Init_Config_s pitch_config = {
         .can_init_config = {
             .can_handle = &hcan2,
-            .tx_id = 2,//2
+            .tx_id = 4,//2
         },
         .controller_param_init_config = {
             .angle_PID = {
@@ -79,20 +79,12 @@ void GimbalInit()
             },
             .speed_PID = {
                 .Kp = 50,  // 50
-                .Ki = 175, // 350
+                .Ki = 350, // 350
                 .Kd = 0,   // 0
                 .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
                 .IntegralLimit = 2500,
-                .MaxOut = 12000,
+                .MaxOut = 20000,
             },
-            // .current_PID = {  // 添加current_PID配置
-            //     .Kp = 0,
-            //     .Ki = 0,
-            //     .Kd = 0,
-            //     .Improve = PID_Integral_Limit,
-            //     .IntegralLimit = 5000,
-            //     .MaxOut = 15000,
-            // },
             .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
             .other_speed_feedback_ptr = (&gimba_IMU_data->Gyro[0]),
@@ -103,7 +95,6 @@ void GimbalInit()
             .outer_loop_type = ANGLE_LOOP,
             .close_loop_type = SPEED_LOOP | ANGLE_LOOP,
             .motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
-            .feedback_reverse_flag = FEEDBACK_DIRECTION_REVERSE,
         },
         .motor_type = DM4310,
     };