From dac04e528bb1a75abdd3a299aa436be675d4a73a Mon Sep 17 00:00:00 2001
From: robinson <robinson@example.com>
Date: Sat, 23 May 2026 01:13:03 +0800
Subject: [PATCH] [modify] pid params

---
 app/control_task.c | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/app/control_task.c b/app/control_task.c
index 0c02a9d..aa1bdfb 100644
--- a/app/control_task.c
+++ b/app/control_task.c
@@ -66,14 +66,14 @@ static bool g_motor_enabled[2] = {false, false};
  *   Kd: 抑制振荡的微分系数
  *       例如 Kd=50, 则角速度变化率反馈阻尼
  */
-#define ROLL_KP     1020.0f
+#define ROLL_KP     1050.0f
 #define ROLL_KI      0.0f
-#define ROLL_KD      20.0f
+#define ROLL_KD      50.0f
 #define ROLL_ALPHA  0.7f
 
-#define PITCH_KP    1020.0f
+#define PITCH_KP    1050.0f
 #define PITCH_KI     0.0f
-#define PITCH_KD     20.0f
+#define PITCH_KD     50.0f
 
 #define PITCH_ALPHA  0.7f
 /* ============================================================================