tune: retune vision and gimbal angle PID, fix manual mode velocity hold

- Vision PID: increase Kp to 100, zero Ki/Kd, tighten CoefA/B
- Gimbal angle PID: reduce to P-only (Kp=1), lower IntegralLimit,
  remove derivative/output filters, unify MaxOut to 2000
- Manual mode: hold last velocity command on lost frames instead of
  stopping
- Debug mode: reset debug_updated flag on mode switch
- Remove stale .vscode settings copy

.vscode/settings copy.json

@@ -1,11 +0,0 @@
-{
-    "files.associations": {
-        "stm32f4xx_hal_def.h": "c",
-        "bsp_usb.h": "c",
-        "usb_device.h": "c",
-        "usbd_cdc.h": "c",
-        "usbd_conf.h": "c",
-        "usbd_desc.h": "c",
-        "usbd_cdc_if.h": "c"
-    }
-}

application/cmd/robot_cmd.c

@@ -91,7 +91,7 @@ static void SwitchToAutoMode(void)
     gimbal_yaw_ref   = gimbal_fetch_data.gimbal_imu_data->YawTotalAngle;
     gimbal_pitch_ref = gimbal_fetch_data.gimbal_imu_data->Pitch;
 
-    vision_data.manual_updated = 0;
+    vision_data.auto_updated = 0;
     VisionPIDReset();
 
     /* 从调试模式切回时重新使能电机 */
@@ -113,7 +113,7 @@ static void SwitchToManualMode(void)
     gimbal_yaw_ref   = gimbal_fetch_data.gimbal_imu_data->YawTotalAngle;
     gimbal_pitch_ref = gimbal_fetch_data.gimbal_imu_data->Pitch;
 
-    vision_data.auto_updated = 0;
+    vision_data.manual_updated = 0;
 
     /* 从调试模式切回时重新使能电机 */
     if (current_mode == VISION_MODE_DEBUG)
@@ -131,6 +131,8 @@ static void SwitchToDebugMode(void)
     if (current_mode == VISION_MODE_DEBUG)
         return;
 
+    vision_data.debug_updated = 0;
+
     current_mode = VISION_MODE_DEBUG;
 
     /* 失能 yaw 和 pitch 电机 */
@@ -209,17 +211,17 @@ void RobotCMDInit()
     motor_pid_pub    = PubRegister("motor_pid", sizeof(Motor_PID_Tune_s));
 
     static PID_Init_Config_s yaw_vpid_config = {
-        .Kp = 1.5f, .Ki = 3.0f, .Kd = 0.07f,
+        .Kp = 100.0f, .Ki = 0.0f, .Kd = 0.0f,
         .IntegralLimit = 100.0f,
-        .CoefA = 20.0f, .CoefB = 20.0f,
+        .CoefA = 0.5f, .CoefB = 0.1f,
         .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit |
                    PID_Derivative_On_Measurement | PID_ChangingIntegrationRate,
         .MaxOut = 200.0f,
     };
     static PID_Init_Config_s pitch_vpid_config = {
-        .Kp = 1.0f, .Ki = 2.0f, .Kd = 0.05f,
+        .Kp = 100.0f, .Ki = 0.0f, .Kd = 0.0f,
         .IntegralLimit = 100.0f,
-        .CoefA = 10.0f, .CoefB = 30.0f,
+        .CoefA = 0.5f, .CoefB = 0.1f,
         .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit |
                    PID_Derivative_On_Measurement | PID_ChangingIntegrationRate,
         .MaxOut = 200.0f,
@@ -250,8 +252,8 @@ static void VisionTracking()
         float yaw_degree_velocity   = PIDCalculate(&vision_yaw_pid, filtered_yaw_error, 0);
         float pitch_degree_velocity = PIDCalculate(&vision_pitch_pid, filtered_pitch_error, 0);
 
-        gimbal_yaw_ref   += 0.001f *ROBOT_CMD_DELAY * yaw_degree_velocity;
+        gimbal_yaw_ref   += 0.001f * ROBOT_CMD_DELAY * yaw_degree_velocity;
-        gimbal_pitch_ref += 0.001f *ROBOT_CMD_DELAY * pitch_degree_velocity;
+        gimbal_pitch_ref += 0.001f * ROBOT_CMD_DELAY * pitch_degree_velocity;
     }
 
     if (gimbal_pitch_ref > 30.0f)
@@ -264,14 +266,18 @@ static void VisionTracking()
 }
 
 /* ---- 手动模式: 上位机角度参考 ---- */
+static float yaw_degree_velocity = 0;
+static float pitch_degree_velocity = 0;
 static void ManualMode()
 {
     if (vision_data.manual_updated)
     {
         vision_data.manual_updated = 0;
-        gimbal_yaw_ref   += 0.001f *ROBOT_CMD_DELAY * vision_data.yaw_degree_velocity;
+        yaw_degree_velocity   = vision_data.yaw_degree_velocity;
-        gimbal_pitch_ref += 0.001f *ROBOT_CMD_DELAY * vision_data.pitch_degree_velocity;
+        pitch_degree_velocity = vision_data.pitch_degree_velocity;
     }
+    gimbal_yaw_ref   += 0.001f * ROBOT_CMD_DELAY * yaw_degree_velocity;
+    gimbal_pitch_ref += 0.001f * ROBOT_CMD_DELAY * pitch_degree_velocity;
 
     if (gimbal_pitch_ref > 30.0f)
         gimbal_pitch_ref = 30.0f;

application/gimbal/gimbal.c

@@ -36,12 +36,11 @@ void GimbalInit()
             },
             .controller_param_init_config = {
                 .angle_PID = {
-                    .Kp = 30, .Ki = 80, .Kd = 0.2f,
+                    .Kp = 1, .Ki = 0, .Kd = 0,
-                    .IntegralLimit = 1000,
+                    .IntegralLimit = 45,
-                    .CoefA = 20, .CoefB = 10,
+                    .CoefA = 15, .CoefB = 5,
                     .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit |
-                               PID_Derivative_On_Measurement | PID_ChangingIntegrationRate |
+                               PID_Derivative_On_Measurement | PID_ChangingIntegrationRate,
-                               PID_DerivativeFilter | PID_OutputFilter,
                     .MaxOut = 2000,
                 },
                 .other_angle_feedback_ptr = &gimbal_IMU_data->YawTotalAngle,
@@ -65,12 +64,12 @@ void GimbalInit()
             },
             .controller_param_init_config = {
                 .angle_PID = {
-                    .Kp = 20, .Ki = 50, .Kd = 0.1f,
+                    .Kp = 1, .Ki = 0, .Kd = 0,
-                    .IntegralLimit = 500,
+                    .IntegralLimit = 45,
                     .CoefA = 15, .CoefB = 5,
                     .Improve = PID_Trapezoid_Intergral | PID_Integral_Limit |
                                PID_Derivative_On_Measurement | PID_ChangingIntegrationRate,
-                    .MaxOut = 1000,
+                    .MaxOut = 2000,
                 },
                 .other_angle_feedback_ptr = &gimbal_IMU_data->Pitch,
                 .other_speed_feedback_ptr = &gimbal_IMU_data->Gyro[0],