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

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- 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
This commit is contained in:
李傲琦
2026-06-02 23:44:08 +08:00
parent 6c6efc7f36
commit fd2386d33a
3 changed files with 23 additions and 29 deletions
Download Patch File Download Diff File Expand all files Collapse all files
.vscode/settings copy.json
Vendored
-11
View File
@@ -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
+16 -10
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@@ -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_pitch_ref += 0.001f *ROBOT_CMD_DELAY * 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)
@@ -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;
gimbal_pitch_ref += 0.001f *ROBOT_CMD_DELAY * vision_data.pitch_degree_velocity;
yaw_degree_velocity = vision_data.yaw_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
+7 -8
View File
@@ -36,12 +36,11 @@ void GimbalInit()
},
.controller_param_init_config = {
.angle_PID = {
.Kp = 30, .Ki = 80, .Kd = 0.2f,
.IntegralLimit = 1000,
.CoefA = 20, .CoefB = 10,
.Kp = 1, .Ki = 0, .Kd = 0,
.IntegralLimit = 45,
.CoefA = 15, .CoefB = 5,
.Improve = PID_Trapezoid_Intergral | PID_Integral_Limit |
PID_Derivative_On_Measurement | PID_ChangingIntegrationRate |
PID_DerivativeFilter | PID_OutputFilter,
PID_Derivative_On_Measurement | PID_ChangingIntegrationRate,
.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,
.IntegralLimit = 500,
.Kp = 1, .Ki = 0, .Kd = 0,
.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],