TuxMonkey/half-steering-basic-framework
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解决键鼠发射，现在键鼠模式小陀螺移动有点问题

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guoxy06
2026-03-26 21:21:21 +08:00
parent 4af62739a5
commit f2b71bfae3
3 changed files with 78 additions and 30 deletions
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4
application/gimbal/gimbal.c
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@@ -78,7 +78,7 @@ void GimbalInit()
.MaxOut = 1000,
},
.speed_PID = {
.Kp = 70, // 50
.Kp = 60, // 50
.Ki = 15, // 350
.Kd = 0.6, // 0
.MaxOut = 20000,//20000
@@ -135,7 +135,7 @@ void GimbalTask()
// 计算零飘导致的角度误差
float angle_error = gimba_IMU_data->YawTotalAngle - last_yaw_angle;
// 补偿目标角度，避免突然旋转
gimbal_cmd_recv.yaw -= angle_error;
gimbal_cmd_recv.yaw -= angle_error;
in_protection_mode = 0;
}
DJIMotorEnable(yaw_motor);