From 29c6b564899e8881cfbe427cf65b729b95e7a946 Mon Sep 17 00:00:00 2001
From: Zhou Chujie <zcj0721@qq.com>
Date: Thu, 19 Oct 2023 21:08:43 +0800
Subject: [PATCH] =?UTF-8?q?=E5=AE=8C=E6=88=90PID=E5=8F=82=E6=95=B0?=
 =?UTF-8?q?=E7=9A=84=E8=B0=83=E8=AF=95?=
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---
 application/gimbal/gimbal.c | 18 +++++++++---------
 1 file changed, 9 insertions(+), 9 deletions(-)

diff --git a/application/gimbal/gimbal.c b/application/gimbal/gimbal.c
index d909f13..8993f83 100644
--- a/application/gimbal/gimbal.c
+++ b/application/gimbal/gimbal.c
@@ -26,9 +26,9 @@ void GimbalInit()
         },
         .controller_param_init_config = {
             .angle_PID = {
-                .Kp = 8, // 8
+                .Kp = 30, // 8
                 .Ki = 0,
-                .Kd = 0,
+                .Kd = 1,
                 .DeadBand = 0.1,
                 .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
                 .IntegralLimit = 100,
@@ -36,9 +36,9 @@ void GimbalInit()
                 .MaxOut = 500,
             },
             .speed_PID = {
-                .Kp = 50,  // 50
+                .Kp = 70,  // 50
                 .Ki = 200, // 200
-                .Kd = 0,
+                .Kd = 10,
                 .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
                 .IntegralLimit = 3000,
                 .MaxOut = 20000,
@@ -63,17 +63,17 @@ void GimbalInit()
         },
         .controller_param_init_config = {
             .angle_PID = {
-                .Kp = 10, // 10
+                .Kp = 50, // 10
                 .Ki = 0,
-                .Kd = 0,
+                .Kd = 1,
                 .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
                 .IntegralLimit = 100,
                 .MaxOut = 500,
             },
             .speed_PID = {
-                .Kp = 50,  // 50
-                .Ki = 350, // 350
-                .Kd = 0,   // 0
+                .Kp = 100,  // 50
+                .Ki = 0, // 350
+                .Kd = 3,   // 0
                 .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit | PID_Derivative_On_Measurement,
                 .IntegralLimit = 2500,
                 .MaxOut = 20000,