ArmDev/motor-controller
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[modify] pid params

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robinson
2026-05-23 01:13:03 +08:00
parent 361caca427
commit dac04e528b
1 changed files with 4 additions and 4 deletions
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8
app/control_task.c
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@@ -66,14 +66,14 @@ static bool g_motor_enabled[2] = {false, false};
* Kd: 抑制振荡的微分系数 * 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 * 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_KI 0.0f
#define ROLL_KD 20.0f #define ROLL_KD 50.0f
#define ROLL_ALPHA 0.7f #define ROLL_ALPHA 0.7f
#define PITCH_KP 1020.0f #define PITCH_KP 1050.0f
#define PITCH_KI 0.0f #define PITCH_KI 0.0f
#define PITCH_KD 20.0f #define PITCH_KD 50.0f
#define PITCH_ALPHA 0.7f #define PITCH_ALPHA 0.7f
/* ============================================================================ /* ============================================================================