6020pitch driver

application/gimbal/gimbal.c

@@ -66,24 +66,20 @@ void GimbalInit()
     Motor_Init_Config_s pitch_config = {
         .can_init_config = {
             .can_handle = &hcan2,
-            .tx_id = 4,//2
+            .tx_id = 2,//2
         },
         .controller_param_init_config = {
             .angle_PID = {
-                .Kp = 10, // 10
+                .Kp = 40, // 10
                 .Ki = 0,
                 .Kd = 0,
-                .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
-                .IntegralLimit = 100,
-                .MaxOut = 500,
+                .MaxOut = 1000,
             },
             .speed_PID = {
-                .Kp = 50,  // 50
-                .Ki = 350, // 350
-                .Kd = 0,   // 0
-                .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
-                .IntegralLimit = 2500,
-                .MaxOut = 8000,//20000
+                .Kp = 80,  // 50
+                .Ki = 15, // 350
+                .Kd = 0.6,   // 0
+                .MaxOut = 30000,//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
@@ -94,9 +90,11 @@ void GimbalInit()
             .speed_feedback_source = OTHER_FEED,
             .outer_loop_type = ANGLE_LOOP,
             .close_loop_type = SPEED_LOOP | ANGLE_LOOP,
+            // .outer_loop_type = SPEED_LOOP,//调试用
+            // .close_loop_type = SPEED_LOOP,
             .motor_reverse_flag = MOTOR_DIRECTION_NORMAL,
         },
-        .motor_type = DM4310,
+        .motor_type = GM6020,
     };
     // 电机对total_angle闭环,上电时为零,会保持静止,收到遥控器数据再动
     yaw_motor = DJIMotorInit(&yaw_config);