单发模式前几发会连发，后续正常，先急停再启动也会出现相同问题

2026-10-23 17:42:20 +08:00 · 2026-03-23 21:01:33 +08:00
parent 7be687982b
commit b5c8c590f3
4 changed files with 58 additions and 43 deletions
--- a/application/gimbal/gimbal.c
+++ b/application/gimbal/gimbal.c
@@ -78,10 +78,10 @@ void GimbalInit()
                .MaxOut = 1000,
            },
            .speed_PID = {
-                .Kp = 80,  // 50
+                .Kp = 70,  // 50
                .Ki = 15, // 350
                .Kd = 0.6,   // 0
-                .MaxOut = 30000,//20000
+                .MaxOut = 20000,//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