From 370d4519b507356d3ae1d5e168a351250f030559 Mon Sep 17 00:00:00 2001
From: lyf <169361657@qq.com>
Date: Fri, 16 Oct 2026 00:54:52 +0800
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---
 .gitignore                                 |  14 ++
 README.md                                  |   2 +-
 云台/Application/Task/Src/debug_task.c     |  56 ++++++-
 云台/Application/Task/Src/gimbal_task.c    |  32 +++-
 云台/Application/Task/Src/monitor_task.c   |   4 +-
 云台/Application/Task/Src/robot_cmd_task.c |  14 +-
 云台/Application/Task/Src/shoot_task.c     |   4 +-
 云台/Application/robot_param.h             |  91 +++++++++--
 云台/README.md                             |  10 +-
 云台/modules/control/gimbal.c              | 182 ++++++++++++++++-----
 云台/modules/control/gimbal.h              |  28 +++-
 云台/modules/control/shoot.c               |  15 +-
 云台/modules/control/shoot.h               |   6 +-
 云台/modules/motor/dji_motor.c             |  42 +++--
 云台/modules/motor/dji_motor.h             |  13 +-
 底盘/Application/Task/Src/monitor_task.c   |   4 +-
 底盘/Application/Task/Src/robot_cmd_task.c |  14 +-
 底盘/Application/robot_param.h             |  54 +++---
 底盘/modules/motor/dji_motor.c             |  42 +++--
 底盘/modules/motor/dji_motor.h             |  13 +-
 20 files changed, 477 insertions(+), 163 deletions(-)

diff --git a/.gitignore b/.gitignore
index 294a1cb..04aa2d8 100644
--- a/.gitignore
+++ b/.gitignore
@@ -28,6 +28,20 @@
 *.uvguix
 DebugConfig/
 
+# ---- J-Link 调试器自动生成(与具体探针/机器绑定, 非源码) ----
+# JLinkSettings.ini: 点"下载/调试"时 Keil 写下的连接参数(器件/接口/速率)
+# JLinkLog.txt:      J-Link 驱动日志
+# 两者都会随换机器、换探针、换烧录方式而变, 不应入库; 缺失时 Keil 会自动重建
+JLinkSettings.ini
+JLinkLog.txt
+JLinkLog.txt.*
+*.jlink
+
+# ---- Keil UV4 编译/烧录日志(uv4 -b/-f -o 生成) ----
+build_log.txt
+*_build.txt
+*_flash.txt
+
 # ---- 编辑器 / 系统 ----
 *.bak
 *.ddk
diff --git a/README.md b/README.md
index 41689f8..44741ea 100644
--- a/README.md
+++ b/README.md
@@ -175,7 +175,7 @@ FreeRTOS 节拍 1 kHz。任务来自 `Core/Src/freertos.c`:
 
 | 板 | CAN1 | CAN2 |
 | --- | --- | --- |
-| 云台板 | Pitch GM6020 `0x206`、摩擦轮 M3508 `0x201/0x202` | Yaw GM6020 `0x205`、底盘回传 `0x019` |
+| 云台板 | Pitch GM6020 `0x206`(0x1FE)、摩擦轮 M3508 `0x201/0x202`(0x200) | Yaw GM6020 `0x205`(0x1FE)、拨弹 M2006 `0x201`(0x200)、底盘回传 `0x019` |
 | 底盘板 | 四轮 M3508 `0x201~0x204` | 云台数据 `0x149/0x189/0x1A9` |
 
 ### 6.2 串口分配
diff --git a/云台/Application/Task/Src/debug_task.c b/云台/Application/Task/Src/debug_task.c
index fd23ad2..12c8ade 100644
--- a/云台/Application/Task/Src/debug_task.c
+++ b/云台/Application/Task/Src/debug_task.c
@@ -36,24 +36,66 @@
 #include "ins.h"
 #include "bmi088.h"
 #include "gimbal.h"
+#include "dr16.h"
 #include <stdio.h>
 #include <math.h>
+#include <string.h>
+
+/* ===== 2026-10-15 台架调参临时遥测(已停用,保留备查) =====
+ * 启用时把 #if 0 改 #if 1:本任务改为输出 5 列 CSV
+ *   setpoint_deg, actual_deg, out_current, ecd_deg, gyro_x_dps
+ * (逗号分隔+换行,可被 Lissio FireWater 自动识别为 5 通道),采样率提到 200Hz,
+ * 用于定量观测阶跃响应与判断"轴是否真的在转动"。 */
+#if 0
+#include "robot_param.h"
+#define DEBUG_PITCH_TUNE 1
+#if DEBUG_PITCH_TUNE
+#define DEBUG_OUT_PERIOD_MS 5   /* 200Hz:2ms 控制环的阶跃响应需 ≥100Hz 采样才量得准 */
+#endif
+#endif
 
 /* 1-输出健康位(cvg/rdy/imu/an/gn); 0-只输出三个欧拉角 */
-#define DEBUG_ATT_HEALTH 1
+#define DEBUG_ATT_HEALTH 0
 /* 1-再附加原始陀螺/零偏/采样计数(排障用); 0-只留上面的通用健康位 */
-#define DEBUG_ATT_DIAG 1
+#define DEBUG_ATT_DIAG 0
+/* 1-仅输出 Pitch 调参行(便于用 VOFA+/串口示波器绘图); 0-同时输出姿态行与 Pitch 调参行 */
+#define DEBUG_PITCH_ONLY 0
 
 /* 输出周期(ms)。姿态观测建议 100ms(10Hz) */
 #define DEBUG_OUT_PERIOD_MS 100
 
 void debug_task(void const * argument)
 {
-    char line[192];
+    char line[384];
     char tail[112];
+    char pitch_line[128];
 
     for (;;)
     {
+#if 0
+        /* ===== 2026-10-15 台架 Pitch 调参遥测(已停用,保留备查) =====
+         * 5 列 CSV → Lissio FireWater 直接成 5 通道:
+         * setpoint(位置环设定值含台架偏置), actual(-att_deg_roll),
+         * out(最终电流), ecd_deg(编码器机械角), gyro_x_dps(陀螺 x 轴角速度) */
+        const float tune_ecd_deg = ((float)motor_pitch_gimbal.fdb.raw_angle -
+                                    (float)PITCH_GM6020_ENCODER_ZERO) * (360.0f / 8192.0f);
+        const float tune_gyro_dps = bmi088_gyro[0] * 57.29578f;
+        int len = snprintf(line, sizeof(line), "%.3f,%.3f,%.1f,%.3f,%.2f\n",
+                           gimbal_pitch_setpoint_deg(),
+                           -att_deg_roll,
+                           pitch_current,
+                           tune_ecd_deg,
+                           tune_gyro_dps);
+#endif
+#if DEBUG_PITCH_ONLY
+        /* 仅输出 Pitch 调参数据(编码值、roll、PID最后输出值、遥控pitch杆量) */
+        int len = snprintf(line, sizeof(line),
+                           "p_ecd=%u roll=%.2f p_out=%.1f rc_pitch=%u\r\n",
+                           (unsigned)motor_pitch_gimbal.fdb.raw_angle,
+                           att_deg_roll,
+                           pitch_current,
+                           (unsigned)dr16.rc_l_UD);
+#else
         const float an = sqrtf(bmi088_accel[0] * bmi088_accel[0] +
                                bmi088_accel[1] * bmi088_accel[1] +
                                bmi088_accel[2] * bmi088_accel[2]);
@@ -79,9 +121,11 @@ void debug_task(void const * argument)
                            (unsigned)INS.ConvergeFlag, (unsigned)att_ready,
                            (unsigned)bmi088_online, an, gn, tail);
 #else
-        int len = snprintf(line, sizeof(line), "ecd=%u yaw=%.2f pitch=%.2f roll=%.2f\r\n",
-                           (unsigned)motor_yaw_gimbal.fdb.raw_angle,
-                           att_deg_yaw, att_deg_pitch, att_deg_roll);
+        int len = snprintf(line, sizeof(line), "%u,%.1f,%u\r\n",
+                           (unsigned)motor_pitch_gimbal.fdb.raw_angle,
+                           pitch_current,(unsigned)motor_yaw_gimbal.fdb.raw_angle);
+#endif
+
 #endif
 
         if (len > 0)
diff --git a/云台/Application/Task/Src/gimbal_task.c b/云台/Application/Task/Src/gimbal_task.c
index ace0dd2..b736d00 100644
--- a/云台/Application/Task/Src/gimbal_task.c
+++ b/云台/Application/Task/Src/gimbal_task.c
@@ -5,10 +5,10 @@
  *   YAW_RUN    正常串级控制(符号用参数回退值,直至手势自检完成)
  *   YAW_DETECT 装配符号自检——**仅由操作手手势显式触发,绝不自动执行**:
  *              遥控在线时"左摇杆推到最左 + 右摇杆推到最右"保持 0.5s。
- *              检测期间云台会轻转几度(约 20% 电压脉冲 60ms),操作手应
+ *              检测期间云台会轻转几度(约 20% 电流脉冲 60ms),操作手应
  *              确认云台周围无人后再做手势。失败重试 3 次后回退参数符号。
  * 任意门控失效(遥控离线/电机掉线/姿态不可用/底盘故障)立即清零输出
- * 拨弹电流由 shoot_task 写入共享变量,本任务与 Pitch 共帧发送(0x1FF CAN1)
+ * Yaw/Pitch GM6020 采用 0x1FE 电流帧控制;拨弹 M2006 由 shoot_task 独立发 0x200
  * ========================================================================== */
 #include "app_tasks.h"
 #include "cmsis_os.h"
@@ -64,6 +64,34 @@ void gimbal_task(void const * argument)
         if (gesture)
             gesture_cnt = 0;
 
+#if 0
+        /* ===== 2026-10-15 台架 Pitch 阶跃发生器(已停用,保留备查) =====
+         * **有界**测试,不是持续抖动:只跑 GIMBAL_BENCH_PITCH_HALF_COUNT 个半周期,
+         * 跑完自动归零并锁存,之后云台恢复静止(重新上电/改开关才会再跑一次)。
+         * 配合 gimbal.c 的台架偏置使用;2ms 任务,半周期 tick 数 = HALF_MS / 2 */
+        {
+            static uint32_t bench_phase = 0;
+            static uint8_t bench_done = 0;
+            const uint32_t half_ticks = (uint32_t)GIMBAL_BENCH_PITCH_HALF_MS / 2u;
+            if (!bench_done && half_ticks > 0u)
+            {
+                const uint32_t total_ticks = half_ticks * (uint32_t)GIMBAL_BENCH_PITCH_HALF_COUNT;
+                if (bench_phase >= total_ticks)
+                {
+                    bench_done = 1;
+                    gimbal_bench_pitch_offset = 0.0f; /* 跑完立即停,不再抖动 */
+                }
+                else
+                {
+                    gimbal_bench_pitch_offset = ((bench_phase / half_ticks) % 2u)
+                                                    ? GIMBAL_BENCH_PITCH_STEP_DEG
+                                                    : 0.0f;
+                    bench_phase++;
+                }
+            }
+        }
+#endif
+
         switch (state)
         {
             case YAW_WAIT:
diff --git a/云台/Application/Task/Src/monitor_task.c b/云台/Application/Task/Src/monitor_task.c
index 8e51245..a134554 100644
--- a/云台/Application/Task/Src/monitor_task.c
+++ b/云台/Application/Task/Src/monitor_task.c
@@ -85,8 +85,8 @@ static int8_t linkcheck_first_offline(void)
 {
     uint32_t now = HAL_GetTick();
 #if defined(ROBOT_TYPE_GIMBAL)
-    /* 设备序号:0 摩擦轮L(0x201) 1 摩擦轮R(0x202) 2 Pitch(0x206)
-     *           3 Yaw(0x205) 4 拨弹(0x207,安装时) 5 底盘回传(0x019) */
+    /* 设备序号:0 摩擦轮L(CAN1 0x201) 1 摩擦轮R(CAN1 0x202) 2 Pitch(CAN1 0x206)
+     *           3 Yaw(CAN2 0x205) 4 拨弹(CAN2 0x201,安装时) 5 底盘回传(0x019) */
     if (LINK_OFFLINE(motor_friction_l.fdb.last_online_tick))
         return 0;
     if (LINK_OFFLINE(motor_friction_r.fdb.last_online_tick))
diff --git a/云台/Application/Task/Src/robot_cmd_task.c b/云台/Application/Task/Src/robot_cmd_task.c
index 500b4ae..63ae575 100644
--- a/云台/Application/Task/Src/robot_cmd_task.c
+++ b/云台/Application/Task/Src/robot_cmd_task.c
@@ -97,8 +97,8 @@ void robot_cmd_task(void const * argument)
 
             if (!keyboard_online)
             {
-                /* 遥控器:左摇杆,输出与摇杆偏量成比例(legacy 为过死区即全速,
-                 * 体感过灵敏),限位门控与方向保持 legacy */
+                /* 遥控器:左摇杆向上(>1050)为抬头(pitch_delta减小,pos向2260减小),门控须 pos > UPPER_LIMIT(2260);
+                 *         左摇杆向下(<1000)为低头(pitch_delta增大,pos向3950增大),门控须 pos < LOWER_LIMIT(3950) */
                 if (dr16.rc_l_UD > 1050 && pos > PITCH_GM6020_POSITION_UPPER_LIMIT)
                     pitch_delta -= GIMBAL_PITCH_LEVER_RATE / 8192.0f * 360.0f *
                                    ((float)dr16.rc_l_UD - 1024.0f) / 660.0f;
@@ -113,13 +113,13 @@ void robot_cmd_task(void const * argument)
             }
             else
             {
-                /* 键鼠:同改为比例输出 */
-                if (keyboard_data.mouse_du < -8 && pos > PITCH_GM6020_POSITION_UPPER_LIMIT)
+                /* 键鼠:鼠标前推(>8)为抬头(pitch_delta减小),门控须 pos > UPPER_LIMIT;鼠标后拉(<-8)为低头(pitch_delta增大),门控须 pos < LOWER_LIMIT */
+                if (keyboard_data.mouse_du > 8 && pos > PITCH_GM6020_POSITION_UPPER_LIMIT)
                     pitch_delta -= GIMBAL_PITCH_LEVER_RATE / 8192.0f * 360.0f *
-                                   (-(float)keyboard_data.mouse_du * PC_MOUSE_DU_SENSITIVITY) / 660.0f;
-                else if (keyboard_data.mouse_du > 8 && pos < PITCH_GM6020_POSITION_LOWER_LIMIT)
-                    pitch_delta += GIMBAL_PITCH_LEVER_RATE / 8192.0f * 360.0f *
                                    ((float)keyboard_data.mouse_du * PC_MOUSE_DU_SENSITIVITY) / 660.0f;
+                else if (keyboard_data.mouse_du < -8 && pos < PITCH_GM6020_POSITION_LOWER_LIMIT)
+                    pitch_delta += GIMBAL_PITCH_LEVER_RATE / 8192.0f * 360.0f *
+                                   (-(float)keyboard_data.mouse_du * PC_MOUSE_DU_SENSITIVITY) / 660.0f;
 
                 if (keyboard_data.mouse_rl != 0)
                     yaw_delta -= GIMBAL_LEVER_SPEED_MAP_RATE * GIMBAL_YAW_PITCH_SPEED_RATE *
diff --git a/云台/Application/Task/Src/shoot_task.c b/云台/Application/Task/Src/shoot_task.c
index 326e548..3d057ed 100644
--- a/云台/Application/Task/Src/shoot_task.c
+++ b/云台/Application/Task/Src/shoot_task.c
@@ -1,7 +1,7 @@
 /* =============================================================================
  * shoot_task.c - 发射机构任务(2ms)
- * shoot_control() 计算摩擦轮/拨弹电流 -> shoot_send_cmd() 发 0x200;
- * 拨弹电流由云台任务与 Pitch 共帧发送;发射机构上电状态来自底盘 0x019
+ * shoot_control() 计算摩擦轮/拨弹电流 -> shoot_send_cmd() 发 0x200(CAN1 摩擦轮 / CAN2 拨弹);
+ * 发射机构上电状态来自底盘 0x019
  * ========================================================================== */
 #include "app_tasks.h"
 #include "cmsis_os.h"
diff --git a/云台/Application/robot_param.h b/云台/Application/robot_param.h
index b33c980..656ea12 100644
--- a/云台/Application/robot_param.h
+++ b/云台/Application/robot_param.h
@@ -9,10 +9,10 @@
 #define ROBOT_PARAM_H
 
 /* ============================ 云台 ============================ */
-#define PITCH_GM6020_POSITION_LOWER_LIMIT   3990    // Pitch 轴编码器值下限(云台抬起方向)
-#define PITCH_GM6020_POSITION_UPPER_LIMIT   2220    // Pitch 轴编码器值上限(云台压低方向)
-#define PITCH_GM6020_ENCODER_ZERO           3245    // Pitch 轴编码器零位
-#define YAW_GM6020_ENCODER_ZERO             6804    // Yaw 轴编码器零位(机械正前方,0~8191)
+#define PITCH_GM6020_POSITION_UPPER_LIMIT   2260    // Pitch 轴抬起极限(最高位,编码器较小值;实测2203撞死限位,留余量设2260)
+#define PITCH_GM6020_POSITION_LOWER_LIMIT   3950    // Pitch 轴压低极限(最低位,编码器较大值;实测4234撞死限位,留余量设3950)
+#define PITCH_GM6020_ENCODER_ZERO           3200    // Pitch 轴编码器水平零位
+#define YAW_GM6020_ENCODER_ZERO             7730    // Yaw 轴编码器零位(机械正前方,0~8191)
 #define CHASSIS_SPIN_FEEDFORWARD_K          0.008f  // 小陀螺解算时延前馈补偿系数(s)
 
 #define GIMBAL_FRICTION_WHEEL_SPEED         5500.0f // 摩擦轮转速(RPM)
@@ -31,7 +31,7 @@
  *    这是反复"疯转"的根源,已废弃;
  *  - 现在两环共用陀螺,整条链只有一个装配符号,由上电自检自动测定
  *    (GIMBAL_YAW_DETECT 见下),无需人工猜;
- *  - 单位:角度环 误差° -> 目标角速度°/s;速度环 误差°/s -> 电压。
+ *  - 单位:角度环 误差° -> 目标角速度°/s;速度环 误差°/s -> 电流。
  * 调参顺序:先速度环(点动不振荡),再位置环(刚性)——见移植 README §8.1 */
 #define GIMBAL_YAW_ANGLE_KP                 20.0f   // ° -> °/s:10° 误差给 150°/s
 #define GIMBAL_YAW_ANGLE_KI                 0.0f
@@ -39,28 +39,50 @@
 #define GIMBAL_YAW_ANGLE_EK_DEADBAND        0.05f   // 误差死区(°),QEKF 噪声小可用窄死区
 #define GIMBAL_YAW_ANGLE_OUT_LIMIT          360.0f  // 目标角速度上限(°/s)
 
-#define GIMBAL_YAW_SPEED_KP                 85.0f   // °/s -> 电压:100°/s 误差给 6000(约 24% 满电压)
+#define GIMBAL_YAW_SPEED_KP                 85.0f   // °/s -> 电流:100°/s 误差给 6000(约 36% 满电流)
 #define GIMBAL_YAW_SPEED_KI                 0.0f    // 稳定后可回填 0.5~2 消速度稳态差
 #define GIMBAL_YAW_SPEED_KD                 0.0f    // 陀螺速率反馈噪声小,先不用 D
-#define GIMBAL_YAW_SPEED_OUT_LIMIT          25000.0f// GM6020 电压限幅
-#define GIMBAL_YAW_SPIN_FEEDFORWARD_K       24.0f   // 小陀螺底盘自旋解耦前馈系数(RPM->电压,通常15~35)
+#define GIMBAL_YAW_SPEED_OUT_LIMIT          16384.0f// GM6020 电流限幅(±16384 对应 ±3A)
+#define GIMBAL_YAW_SPIN_FEEDFORWARD_K       24.0f   // 小陀螺底盘自旋解耦前馈系数(RPM->电流)
 
-/* Yaw 装配符号自动检测:上电自检时给 Yaw 电机一个正向小电压脉冲,
+/* Yaw 装配符号自动检测:上电自检时给 Yaw 电机一个正向小电流脉冲,
  * 看陀螺 z 轴往哪边转——脉冲引起同向转动则符号 +1,反向则 -1。
  * 检测时云台会轻转几度,勿扶云台;失败(被按住/电机离线)时用 FALLBACK */
 #define GIMBAL_YAW_SIGN_AUTO                1       // 1=上电自动检测 0=直接用 FALLBACK
 #define GIMBAL_YAW_SIGN_FALLBACK            (1.0f)
-#define GIMBAL_YAW_DETECT_VOLTAGE           5000    // 检测脉冲电压(约 20% 满电压)
+#define GIMBAL_YAW_DETECT_CURRENT           3500    // 检测脉冲电流(约 21% 满电流 16384)
 #define GIMBAL_YAW_DETECT_RATE_MIN          20.0f   // 判定转动的陀螺速率阈值(°/s)
 
 /* ---- Pitch(位置环陀螺 Roll,速度环转子转速——Pitch 无符号史问题,维持原案) ---- */
-#define GIMBAL_PITCH_ANGLE_EK_DEADBAND      0.3f    // 位置环误差死区(°)
+#define GIMBAL_PITCH_ANGLE_EK_DEADBAND      0.05f   // 误差死区(°),收窄死区消除边缘阶跃
 #define GIMBAL_PITCH_ANGLE_KP               15.0f
 #define GIMBAL_PITCH_ANGLE_KI               0.0f
-#define GIMBAL_PITCH_ANGLE_KD               100.0f
-#define GIMBAL_PITCH_SPEED_KP               150.0f
-#define GIMBAL_PITCH_SPEED_KI               0.001f
-#define GIMBAL_PITCH_SPEED_KD               5.0f
+#define GIMBAL_PITCH_ANGLE_KD               0.0f    // 原100.0f是万级电流振颤主因!清零以消除剧烈振荡
+#define GIMBAL_PITCH_SPEED_KP               40.0f   // 速度/电流环Kp
+#define GIMBAL_PITCH_SPEED_KI               0.0f
+#define GIMBAL_PITCH_SPEED_KD               0.0f
+
+/* Pitch 重力拟合前馈参数: I_g = K_COS * cos(a) + K_SIN * sin(a) + K_CONST
+ * 其中 a = (raw_angle - ZERO_ECD) * 360 / 8192 (°) */
+#define GIMBAL_PITCH_GRAVITY_ZERO_ECD       3200.0f // 重力补偿拟合基准编码值
+#define GIMBAL_PITCH_GRAVITY_K_COS          2856.1f// cos 项系数
+#define GIMBAL_PITCH_GRAVITY_K_SIN          4340.3f// sin 项系数
+#define GIMBAL_PITCH_GRAVITY_K_CONST        2826.5f  // 常数偏置项
+
+/* ---- 2026-10-15 台架前馈实测记录(未采用,保留备查) ----
+ * 用上位机 203Hz 遥测在编码器 -16.91°/+4.88°/+9.30° 三处长时间静止(编码器
+ * 零漂移+目标恒定)实测真实保持电流 3597/4498/4613 counts;当时上面这组参数
+ * 分别高估 699/1543/1733 counts,折合 1.17~2.89° 稳态静差
+ * (位置环 Kp15×Kp40 = 600 counts/°:静差 = 前馈高估量 / 600)。
+ * 按"保留原相位与形状(K_COS:K_SIN 不变)、幅值×0.503 并微调常数项"重标定为:
+ *     GIMBAL_PITCH_GRAVITY_K_COS   1435.4f
+ *     GIMBAL_PITCH_GRAVITY_K_SIN   2181.3f
+ *     GIMBAL_PITCH_GRAVITY_K_CONST 2861.6f
+ * 该组在当次数据上残差 RMS 16 counts(0.03°),看似很准;**但换到另一机械状态后
+ * 同一编码器角度实测保持电流又差约 1650 counts**,说明被标定对象本身在变
+ * (见上方"机械滞回 2130 counts"记录),故不采用,前馈保持原值不动。
+ * 另一并记录:PID 动态特性实测良好(上升时间 0.095~0.14s、超调 0.3~5.2%、
+ * 16s 稳态段纹波 p-p 0.046°、无振荡),故 GIMBAL_PITCH_*_KP/KI/KD 也未改动。 */
 
 #define GIMBAL_FRICTION_WHEEL_KP            16.0f
 #define GIMBAL_FRICTION_WHEEL_KI            0.0f
@@ -119,8 +141,8 @@
 #define CTOC_SLAVE_ID3   0x1A9  // 云台->底盘:云台世界系 yaw(float)+att_ready
 
 /* ============================ CAN ID ============================ */
-/* 云台板:CAN1 = Pitch GM6020(0x206)+摩擦轮 M3508(0x201/0x202)
- *        CAN2 = Yaw GM6020(0x205)+底盘回传(0x019)
+/* 云台板:CAN1 = Pitch GM6020(0x206,0x1FE)+摩擦轮 M3508(0x201/0x202,0x200)
+ *        CAN2 = Yaw GM6020(0x205,0x1FE)+拨弹 M2006(0x201,0x200)+底盘回传(0x019)
  * 底盘板:CAN1 = 四轮 M3508(0x201~0x204)
  *        CAN2 = 云台数据(0x149/0x189/0x1A9) */
 
@@ -128,6 +150,41 @@
 #define DEBUG_SHOOT_WITHOUT_REFEREE  1  // 1=无裁判系统时也允许开摩擦轮(台架调试用),比赛请改 0
 #define GIMBAL_RAMMER_INSTALLED      0  // 1=拨弹 M2006 已安装;0=暂缺,不参与掉线判定
 
+/* ================= 2026-10-15 Pitch 台架 PID 调参改动(已停用,保留备查) =================
+ * 以下开关是一次台架 Pitch 调参试验所加,已用 #if 0 停用:不参与编译、不影响现有行为。
+ * 需要复现时把外层 #if 0 改成 #if 1,并同步启用 gimbal.c / gimbal_task.c / gimbal.h
+ * / debug_task.c 里同名的停用块。
+ * 启用前务必先确认机械无卡滞:当时实测**同一编码器角度下保持电流可差 2130 counts
+ * (≈3.55° 当量)**,属机械滞回(线缆拖拽/接触/摩擦),不是控制问题;机械不一致时
+ * 任何固定前馈都标不准,调参也无意义。 */
+#if 0
+/* ---- Pitch 台架 PID 调参(仅台架;调完/比赛必须置 0) ----
+ * 1=在 Pitch 位置环设定值上叠加一个方波阶跃,用于定量观测阶跃响应。
+ * 安全约束(务必遵守):
+ *   - **有界**:只跑 GIMBAL_BENCH_PITCH_HALF_COUNT 个半周期就自动归零停住,
+ *     不做长时间连续抖动;
+ *   - **限位内**:轴距上下软限位不足 GIMBAL_BENCH_PITCH_SAFE_MARGIN_DEG 时
+ *     不施加阶跃,绝不把轴推向限位;
+ *   - 该偏置是纯附加量,不累加进 pitch_target_deg,关掉即完全恢复原行为。 */
+#define GIMBAL_BENCH_PITCH_TUNE       0
+#define GIMBAL_BENCH_PITCH_STEP_DEG   3.0f   // 阶跃幅值(°)
+#define GIMBAL_BENCH_PITCH_HALF_MS    800    // 半周期(ms),(跑完自动停,非持续抖动)
+#define GIMBAL_BENCH_PITCH_HALF_COUNT 4      // 总半周期数:4×0.8s=3.2s 后自动静止
+#define GIMBAL_BENCH_PITCH_SAFE_MARGIN_DEG 5.0f // 距上下限位至少留这么多才允许阶跃
+
+/* Pitch 软限位外的电流限制(方向 + 堵转双层保护):
+ *  - 压向限位的方向一律清零(绝不顶限位);
+ *  - 离开限位的方向允许 GIMBAL_PITCH_LIMIT_CURRENT_RECOVER,让轴能自行归位
+ *    (烧录/上电会短暂失力矩,轴会掉到限位,必须能自己爬起来);
+ *  - 但限位外若连续 GIMBAL_PITCH_LIMIT_STALL_MS 编码器一动不动,判为堵转/
+ *    撞死,允许电流降到 GIMBAL_PITCH_LIMIT_CURRENT,避免长时间过载发热。
+ * 轴回到软限位内后闭环自动恢复正常输出。 */
+#define GIMBAL_PITCH_LIMIT_CURRENT_RECOVER  12000.0f // 限位外抬升方向允许电流(≈2.2A,额定3A的73%)
+#define GIMBAL_PITCH_LIMIT_CURRENT          1500.0f  // 限位外判定堵转后的涓流上限(≈0.27A)
+#define GIMBAL_PITCH_LIMIT_STALL_MS         300      // 限位外不动多久判定堵转(高位电流只持续这么久)
+#endif
+/* ================= 以上为停用块,以下为原有代码 ================= */
+
 /* 1=把 CAN 掉线警告音替换成循环播放的旋律《你》(RM动画片尾曲),报警时播放;
  * 旋律音符表见 modules/dev/buzzer.c 的 buzzer_melody[] */
 #define DEBUG_BUZZER_MELODY          0
diff --git a/云台/README.md b/云台/README.md
index 3066219..22e10b6 100644
--- a/云台/README.md
+++ b/云台/README.md
@@ -8,8 +8,8 @@
 
 ## 这块板负责什么
 
-- **云台控制**:Yaw(GM6020 `0x205`,CAN2)/ Pitch(GM6020 `0x206`,CAN1)双环
-- **发射机构**:摩擦轮 M3508 `0x201`/`0x202` + 拨弹 M2006 `0x207`(装与不装由 `GIMBAL_RAMMER_INSTALLED` 决定)
+- **云台控制**:Yaw(GM6020 `0x205`,CAN2 `0x1FE`电流控制)/ Pitch(GM6020 `0x206`,CAN1 `0x1FE`电流控制)双环
+- **发射机构**:摩擦轮 M3508 `0x201`/`0x202`(CAN1 `0x200`) + 拨弹 M2006 `0x201`(CAN2 `0x200`)(装与不装由 `GIMBAL_RAMMER_INSTALLED` 决定)
 - **图传链路 / 裁判系统**:USART6(3pin 口)
 - **DR16 遥控器**:USART3
 - **板间通讯主控**:云台把世界系 yaw(`0x1A9`)与摇杆/控制状态(`0x149`/`0x189`)发给底盘
@@ -38,7 +38,7 @@ USE_HAL_DRIVER, STM32F407xx, ARM_MATH_CM4, ROBOT_TYPE_GIMBAL
 
 1. `led_init` 点亮蓝灯 → 各外设初始化
 2. IMU 初始化 + **z 轴零偏静止标定(约 0.5~1.5 s,这段时间别碰车)**
-3. **Yaw 装配符号自检**:给 Yaw 电机一个正向小电压脉冲,看陀螺 z 轴往哪边转,自动定符号;**云台会轻转几度,不要扶住云台**。失败(被按住 / 电机离线)时回退到 `GIMBAL_YAW_SIGN_FALLBACK`
+3. **Yaw 装配符号自检**:给 Yaw 电机一个正向小电流脉冲,看陀螺 z 轴往哪边转,自动定符号;**云台会轻转几度,不要扶住云台**。失败(被按住 / 电机离线)时回退到 `GIMBAL_YAW_SIGN_FALLBACK`
 4. 自检结果经 `0x1A9` 的 flags 下发给底盘,与底盘自测的车身转向相乘完成跟随符号综合
 
 ## 蜂鸣器序号(本板)
@@ -46,8 +46,8 @@ USE_HAL_DRIVER, STM32F407xx, ARM_MATH_CM4, ROBOT_TYPE_GIMBAL
 CAN 掉线报警按设备序号响 `n` 下:
 
 ```
-0 = 摩擦轮L(0x201)   1 = 摩擦轮R(0x202)   2 = Pitch(0x206)
-3 = Yaw(0x205)       4 = 拨弹(0x207)      5 = 底盘回传(0x019)
+0 = 摩擦轮L(CAN1 0x201)   1 = 摩擦轮R(CAN1 0x202)   2 = Pitch(CAN1 0x206)
+3 = Yaw(CAN2 0x205)       4 = 拨弹(CAN2 0x201)      5 = 底盘回传(0x019)
 ```
 
 **响三下 = Pitch 电机掉线。** 台架调试嫌吵时把 `robot_param.h` 的 `DEBUG_BUZZER_MELODY` 置 1(只换声音不换灯语)。
diff --git a/云台/modules/control/gimbal.c b/云台/modules/control/gimbal.c
index b670844..33988f8 100644
--- a/云台/modules/control/gimbal.c
+++ b/云台/modules/control/gimbal.c
@@ -2,11 +2,11 @@
  * gimbal.c - 云台双轴控制(串级 PID)
  * Yaw(2026-09 重写):双陀螺环,见 gimbal.h 与 robot_param.h 说明
  *   位置环:err(°) = 目标角 - SIGN*att_deg_yaw -> 目标角速度(°/s,限幅)
- *   速度环:err(°/s) = 目标角速度 - SIGN*gyro_z -> 电压(限幅)
- *   稳定性条件:SIGN*G>0,G 为"电压->陀螺 z 角速度"的装配增益,
+ *   速度环:err(°/s) = 目标角速度 - SIGN*gyro_z -> 电流(限幅)
+ *   稳定性条件:SIGN*G>0,G 为"电流->陀螺 z 角速度"的装配增益,
  *   由 gimbal_detect_yaw_sign() 上电实测,彻底消除双传感器符号打架
  * Pitch:位置环用 QEKF Roll(安装方向),速度环转子转速(legacy 案,无符号史问题)
- * 发送:CAN2 0x1FF 槽1=Yaw 电压;CAN1 0x1FF 槽2=Pitch 电压,槽3=拨弹电流
+ * 发送:CAN2 0x1FE 槽1=Yaw 电流;CAN1 0x1FE 槽2=Pitch 电流
  * ========================================================================== */
 #include "gimbal.h"
 #include "shoot.h"
@@ -18,11 +18,16 @@
 #include "filter.h"
 #include "robot_typedef.h"
 #include "dr16.h"
+#include <math.h>
 
 #ifndef RAD_TO_ANGLE
 #define RAD_TO_ANGLE 57.295779513082320876798154814105f
 #endif
 
+#ifndef ANGLE_TO_RAD
+#define ANGLE_TO_RAD 0.01745329251994329576923690768489f
+#endif
+
 dji_motor_t motor_yaw_gimbal;
 dji_motor_t motor_pitch_gimbal;
 dji_motor_t motor_friction_l;
@@ -34,25 +39,32 @@ static PID_PositionTypeDef pitch_angle_pid, pitch_speed_pid;
 
 static float yaw_target_deg;    // 世界系目标角(°)
 static float pitch_target_deg;  // 目标角(°)
-static float yaw_voltage;
-static float pitch_voltage;
+static float yaw_current;
+float pitch_pid = 0.0f;
+float pitch_g = 0.0f;
+float pitch_current = 0.0f;
+
+/* ===== 2026-10-15 台架调参临时量(已停用,保留备查) ===== */
+#if 0
+/* 台架调参用 Pitch 目标角附加偏置(°)。由 gimbal_task 的方波发生器写入,
+ * 只叠加到位置环设定值上,不累加进 pitch_target_deg,默认 0 无副作用 */
+float gimbal_bench_pitch_offset = 0.0f;
+
+/* 实际施加的偏置(经限位安全门控后),仅用于遥测显示真实设定值 */
+static float pitch_applied_offset = 0.0f;
+#endif
 
 /* 装配符号:0=未检测,±1=已测定;未检测前 gimbal_control 不应被调用 */
 static float yaw_sign_f = 0.0f;
 static uint8_t yaw_sign_valid = 0;
 
-/* 拨弹电流由 shoot 模块写入,云台与拨弹共帧(0x1FF CAN1)发送 */
-static int16_t rammer_current_shared = 0;
-
-void shoot_share_rammer_current(int16_t current);
-
 void gimbal_motor_init(void)
 {
     dji_motor_init(&motor_yaw_gimbal, &hcan2, 0x205, DJI_MOTOR_6020);
     dji_motor_init(&motor_pitch_gimbal, &hcan1, 0x206, DJI_MOTOR_6020);
     dji_motor_init(&motor_friction_l, &hcan1, 0x201, DJI_MOTOR_3508);
     dji_motor_init(&motor_friction_r, &hcan1, 0x202, DJI_MOTOR_3508);
-    dji_motor_init(&motor_rammer, &hcan1, 0x207, DJI_MOTOR_2006);
+    dji_motor_init(&motor_rammer, &hcan2, 0x201, DJI_MOTOR_2006);
 
     /* Yaw 位置环:° -> °/s */
     PID_PositionStructureInit(&yaw_angle_pid, 0);
@@ -60,7 +72,7 @@ void gimbal_motor_init(void)
     PID_PositionSetEkRange(&yaw_angle_pid, -GIMBAL_YAW_ANGLE_EK_DEADBAND, GIMBAL_YAW_ANGLE_EK_DEADBAND);
     PID_PositionSetOUTRange(&yaw_angle_pid, -GIMBAL_YAW_ANGLE_OUT_LIMIT, GIMBAL_YAW_ANGLE_OUT_LIMIT);
 
-    /* Yaw 速度环:°/s -> 电压 */
+    /* Yaw 速度环:°/s -> 电流 */
     PID_PositionStructureInit(&yaw_speed_pid, 0);
     PID_PositionSetParameter(&yaw_speed_pid, GIMBAL_YAW_SPEED_KP, GIMBAL_YAW_SPEED_KI, GIMBAL_YAW_SPEED_KD);
     PID_PositionSetOUTRange(&yaw_speed_pid, -GIMBAL_YAW_SPEED_OUT_LIMIT, GIMBAL_YAW_SPEED_OUT_LIMIT);
@@ -73,8 +85,8 @@ void gimbal_motor_init(void)
 
     PID_PositionStructureInit(&pitch_speed_pid, 300);
     PID_PositionSetParameter(&pitch_speed_pid, GIMBAL_PITCH_SPEED_KP, GIMBAL_PITCH_SPEED_KI, GIMBAL_PITCH_SPEED_KD);
-    PID_PositionSetEkRange(&pitch_speed_pid, -5, 5);
-    PID_PositionSetOUTRange(&pitch_speed_pid, -30000, 30000);
+    PID_PositionSetEkRange(&pitch_speed_pid, 0, 0);
+    PID_PositionSetOUTRange(&pitch_speed_pid, -16384, 16384);
 }
 
 uint8_t gimbal_detect_yaw_sign(void)
@@ -83,24 +95,24 @@ uint8_t gimbal_detect_yaw_sign(void)
         return 0;
 
     /* 静默期:输出清零等待机械/陀螺稳定 */
-    dji_motor_send_current_high(&hcan2, 0, 0, 0, 0);
+    dji_motor_send_gm6020_current_low(&hcan2, 0, 0, 0, 0);
     HAL_Delay(50);
 
-    /* 正向电压脉冲 60ms,期间平均陀螺 z 角速度 */
+    /* 正向电流脉冲 60ms,期间平均陀螺 z 角速度 */
     float sum = 0.0f;
-    dji_motor_send_current_high(&hcan2, GIMBAL_YAW_DETECT_VOLTAGE, 0, 0, 0);
+    dji_motor_send_gm6020_current_low(&hcan2, GIMBAL_YAW_DETECT_CURRENT, 0, 0, 0);
     for (uint16_t i = 0; i < 60; i++)
     {
         sum += bmi088_gyro[2];  // rad/s(z 轴向上为正)
         HAL_Delay(1);
     }
-    dji_motor_send_current_high(&hcan2, 0, 0, 0, 0);
+    dji_motor_send_gm6020_current_low(&hcan2, 0, 0, 0, 0);
     HAL_Delay(80);  // 回稳,随后 gimbal_task 的首次控制会同步目标角
 
     const float rate_dps = sum / 60.0f * RAD_TO_ANGLE;
     if (rate_dps > GIMBAL_YAW_DETECT_RATE_MIN)
     {
-        yaw_sign_f = 1.0f;  // 正电压->陀螺正转,装配增益 G>0
+        yaw_sign_f = 1.0f;  // 正电流->陀螺正转,装配增益 G>0
         yaw_sign_valid = 1;
     }
     else if (rate_dps < -GIMBAL_YAW_DETECT_RATE_MIN)
@@ -121,7 +133,7 @@ float gimbal_yaw_sign(void)
 
 int8_t gimbal_encoder_ccw(void)
 {
-    /* 自检:电压正脉冲 -> 陀螺 z 正转(云台 CCW),而电压正方向即编码器
+    /* 自检:电流正脉冲 -> 陀螺 z 正转(云台 CCW),而电流正方向即编码器
      * tick 增大方向,故 tick 增方向 = sign(gimbal 旋转) */
     if (!yaw_sign_valid)
         return 0;
@@ -151,7 +163,11 @@ void gimbal_control(float yaw_delta, float pitch_delta, uint8_t reset_flag)
         /* 将编码器 tick 差折算为机械角度偏差(°)，补偿给世界系目标角 */
         const float ecd_err_deg = (float)ecd_diff * (360.0f / 8192.0f);
         yaw_target_deg = yaw_meas - ecd_err_deg;
-        pitch_target_deg = 0;
+
+        /* Pitch: 计算当前编码器距离机械零位的差值，折算为角度偏差补偿给目标角(上电自动归位到零位) */
+        int16_t pitch_ecd_diff = (int16_t)motor_pitch_gimbal.fdb.raw_angle - (int16_t)PITCH_GM6020_ENCODER_ZERO;
+        const float pitch_ecd_err_deg = (float)pitch_ecd_diff * (360.0f / 8192.0f);
+        pitch_target_deg = -att_deg_roll - pitch_ecd_err_deg;
 
         if (reset_flag)
         {
@@ -169,7 +185,7 @@ void gimbal_control(float yaw_delta, float pitch_delta, uint8_t reset_flag)
     yaw_angle_pid.Need_Value = yaw_target_deg;
     PID_PositionCalc(&yaw_angle_pid, yaw_meas);
 
-    /* Yaw 速度环:°/s -> 电压(反馈为带符号陀螺角速度,双环符号自洽) */
+    /* Yaw 速度环:°/s -> 电流(反馈为带符号陀螺角速度,双环符号自洽) */
     yaw_speed_pid.Need_Value = yaw_angle_pid.OUT;
     PID_PositionCalc(&yaw_speed_pid, yaw_rate_meas);
 
@@ -179,29 +195,120 @@ void gimbal_control(float yaw_delta, float pitch_delta, uint8_t reset_flag)
     {
         spin_feedforward = GIMBAL_YAW_SPIN_FEEDFORWARD_K * (float)motor_yaw_gimbal.fdb.rotor_speed;
     }
-    yaw_voltage = yaw_speed_pid.OUT + spin_feedforward;
-    if (yaw_voltage > GIMBAL_YAW_SPEED_OUT_LIMIT)
-        yaw_voltage = GIMBAL_YAW_SPEED_OUT_LIMIT;
-    else if (yaw_voltage < -GIMBAL_YAW_SPEED_OUT_LIMIT)
-        yaw_voltage = -GIMBAL_YAW_SPEED_OUT_LIMIT;
+    yaw_current = yaw_speed_pid.OUT + spin_feedforward;
+    if (yaw_current > GIMBAL_YAW_SPEED_OUT_LIMIT)
+        yaw_current = GIMBAL_YAW_SPEED_OUT_LIMIT;
+    else if (yaw_current < -GIMBAL_YAW_SPEED_OUT_LIMIT)
+        yaw_current = -GIMBAL_YAW_SPEED_OUT_LIMIT;
 
-    /* Pitch 串级闭环,位置环反馈为 AHRS Roll(legacy 语义) */
+    /* Pitch 串级闭环,位置环反馈为 AHRS Roll */
+#if 0
+    /* ===== 2026-10-15 台架调参临时改动(已停用,保留备查) =====
+     * 启用时:先算编码器角与上下软限位,做台架偏置的限位安全门控(轴距限位
+     * 不足 GIMBAL_BENCH_PITCH_SAFE_MARGIN_DEG 时不施加阶跃),并把下面一行
+     * 改为 pitch_angle_pid.Need_Value = pitch_target_deg + pitch_applied_offset; */
+    const float pitch_ecd_deg = ((float)motor_pitch_gimbal.fdb.raw_angle -
+                                 (float)PITCH_GM6020_ENCODER_ZERO) * (360.0f / 8192.0f);
+    const float pitch_lim_up_deg = ((float)PITCH_GM6020_POSITION_UPPER_LIMIT -
+                                    (float)PITCH_GM6020_ENCODER_ZERO) * (360.0f / 8192.0f);
+    const float pitch_lim_dn_deg = ((float)PITCH_GM6020_POSITION_LOWER_LIMIT -
+                                    (float)PITCH_GM6020_ENCODER_ZERO) * (360.0f / 8192.0f);
+    pitch_applied_offset = gimbal_bench_pitch_offset;
+    if (pitch_ecd_deg < pitch_lim_up_deg + GIMBAL_BENCH_PITCH_SAFE_MARGIN_DEG ||
+        pitch_ecd_deg > pitch_lim_dn_deg - GIMBAL_BENCH_PITCH_SAFE_MARGIN_DEG)
+        pitch_applied_offset = 0.0f;
+#endif
     pitch_angle_pid.Need_Value = pitch_target_deg;
-    PID_PositionCalc(&pitch_angle_pid, att_deg_roll);
+    PID_PositionCalc(&pitch_angle_pid, -att_deg_roll);
     pitch_speed_pid.Need_Value = pitch_angle_pid.OUT;
     PID_PositionCalc(&pitch_speed_pid, motor_pitch_gimbal.fdb.rotor_speed);
-    pitch_voltage = pitch_speed_pid.OUT;
+    pitch_pid = pitch_speed_pid.OUT;
 
-    /* 发送:CAN2 0x1FF 槽1 = Yaw 电压;CAN1 0x1FF 槽2 = Pitch 电压,槽3 = 拨弹电流 */
-    dji_motor_send_current_high(&hcan2, (int16_t)yaw_voltage, 0, 0, 0);
-    dji_motor_send_current_high(&hcan1, 0, (int16_t)pitch_voltage, rammer_current_shared, 0);
+    /* Pitch 重力拟合前馈补偿:
+     * a 为当前物理编码值减去 3200*360/8192 的数值(折算为弧度送入三角函数)
+     * I = 3105.88 * cos(a) + 3565.50 * sin(a) + 64.31
+     * 最终电流输出 pitch_out = pitch_pid + pitch_g (速度环不代入 pitch_g) */
+    const float a_deg = ((float)motor_pitch_gimbal.fdb.raw_angle - GIMBAL_PITCH_GRAVITY_ZERO_ECD) * (360.0f / 8192.0f);
+    const float a_rad = a_deg * ANGLE_TO_RAD;
+    pitch_g = GIMBAL_PITCH_GRAVITY_K_COS * cosf(a_rad) +
+              GIMBAL_PITCH_GRAVITY_K_SIN * sinf(a_rad) +
+              GIMBAL_PITCH_GRAVITY_K_CONST;
+
+    pitch_current = pitch_pid + pitch_g;
+    if (pitch_current > 16384.0f)
+        pitch_current = 16384.0f;
+    else if (pitch_current < -16384.0f)
+        pitch_current = -16384.0f;
+
+#if 0
+    /* ===== 2026-10-15 台架调参临时改动:Pitch 软限位/堵转保护(已停用,保留备查) =====
+     * 背景:原设计的上下限位只作用于遥控输入路径(robot_cmd_task),控制环自身的
+     * 目标角/前馈没有任何限位约束。台架烧录会失力矩十几秒~几分钟,轴会掉到限位,
+     * 若不加保护,原逻辑会持续输出大电流顶着限位(GM6020 直驱堵转 = 持续过载发热)。
+     * 做法:越限位时只允许"离开限位"方向的电流(正电流 = 抬头/编码器减小,故下限位
+     * 只留正向、上限位只留负向),反方向清零;限位外连续 GIMBAL_PITCH_LIMIT_STALL_MS
+     * 编码器不动则判堵转,电流降到涓流上限。轴回到软限位内后闭环自动恢复正常。 */
+    if (pitch_ecd_deg >= pitch_lim_dn_deg || pitch_ecd_deg <= pitch_lim_up_deg)
+    {
+        /* 堵转计时:相对基准编码值移动超过 10 个刻度(0.44°)才算"在动"。
+         * 阈值取 10 而不是 2:陀螺/结构微振会让编码器抖 2~3 个刻度,阈值太小会把
+         * 静止误判成在动,保护永远不生效(实测踩过);慢速抬升 5°/s 在 300ms 内
+         * 也能走 34 个刻度,不会被误判。 */
+        static uint16_t lim_stall = 0;
+        static uint16_t lim_ref_ecd = 0;
+        const int16_t d_ecd = (int16_t)((int16_t)motor_pitch_gimbal.fdb.raw_angle -
+                                        (int16_t)lim_ref_ecd);
+        if (d_ecd > 10 || d_ecd < -10)
+        {
+            lim_ref_ecd = motor_pitch_gimbal.fdb.raw_angle;
+            lim_stall = 0;
+        }
+        else if (lim_stall < 60000u)
+            lim_stall++;
+
+        const float cap = (lim_stall * 2u >= (uint16_t)GIMBAL_PITCH_LIMIT_STALL_MS)
+                              ? GIMBAL_PITCH_LIMIT_CURRENT
+                              : GIMBAL_PITCH_LIMIT_CURRENT_RECOVER;
+
+        if (pitch_ecd_deg >= pitch_lim_dn_deg) /* 轴过低:只许抬升 */
+        {
+            if (pitch_current < 0.0f)
+                pitch_current = 0.0f;
+            else if (pitch_current > cap)
+                pitch_current = cap;
+        }
+        else /* 轴过高:只许下压 */
+        {
+            if (pitch_current > 0.0f)
+                pitch_current = 0.0f;
+            else if (pitch_current < -cap)
+                pitch_current = -cap;
+        }
+        PID_PositionClean(&pitch_speed_pid);
+    }
+#endif
+    /* ===== 停用块结束 ===== */
+
+    /* 发送:CAN2 0x1FE 槽1 = Yaw 电流;CAN1 0x1FE 槽2 = Pitch 电流 */
+    dji_motor_send_gm6020_current_low(&hcan2, (int16_t)yaw_current, 0, 0, 0);
+    dji_motor_send_gm6020_current_low(&hcan1, 0, (int16_t)pitch_current, 0, 0);
 }
 
-void shoot_share_rammer_current(int16_t current)
+#if 0
+/* ===== 2026-10-15 台架调参临时接口(已停用,保留备查) ===== */
+/* Pitch 位置环实际设定值(°) = 真实目标角 + 经限位门控后的台架偏置 */
+float gimbal_pitch_setpoint_deg(void)
 {
-    rammer_current_shared = current;
+    return pitch_target_deg + pitch_applied_offset;
 }
 
+/* Pitch 位置环输出 = 速度环目标(°/s),用于判断内环是否被限幅 */
+float gimbal_pitch_speed_ref(void)
+{
+    return pitch_angle_pid.OUT;
+}
+#endif
+
 uint8_t gimbal_motor_offline(void)
 {
     uint32_t now = HAL_GetTick();
@@ -219,7 +326,8 @@ uint8_t gimbal_motor_offline(void)
 
 void gimbal_output_zero(void)
 {
-    dji_motor_send_current_high(&hcan2, 0, 0, 0, 0);
-    dji_motor_send_current_high(&hcan1, 0, 0, 0, 0);
+    dji_motor_send_gm6020_current_low(&hcan2, 0, 0, 0, 0);
+    dji_motor_send_gm6020_current_low(&hcan1, 0, 0, 0, 0);
     dji_motor_send_current_low(&hcan1, 0, 0, 0, 0);
+    dji_motor_send_current_low(&hcan2, 0, 0, 0, 0);
 }
diff --git a/云台/modules/control/gimbal.h b/云台/modules/control/gimbal.h
index 1aefba2..4e7dec5 100644
--- a/云台/modules/control/gimbal.h
+++ b/云台/modules/control/gimbal.h
@@ -4,13 +4,13 @@
 /* 云台双轴控制(串级 PID)
  * Yaw  (2026-09 重写):双环都以陀螺仪为反馈——
  *        位置环:QEKF 多圈 yaw(°) -> 目标角速度(°/s)
- *        速度环:陀螺 z 轴角速度(°/s) -> GM6020 电压
+ *        速度环:陀螺 z 轴角速度(°/s) -> GM6020 电流
  *        装配符号由上电自检自动测定(gimbal_detect_yaw_sign),
  *        两环共用同一符号,不可能再出现"两传感器符号打架"
  * Pitch:位置环用 QEKF 的 Roll(安装方向所致,勿改),速度环转子转速
- * 电机:  Yaw=GM6020 CAN2 0x205(电压,0x1FF CAN2 槽1)
- *        Pitch=GM6020 CAN1 0x206(电压,与拨弹共帧 0x1FF CAN1 槽2/3,legacy 方案)
- *        摩擦轮 M3508 0x201/0x202 与拨弹 M2006 0x207 的实例也在此初始化 */
+ * 电机:  Yaw=GM6020 CAN2 0x205(电流,0x1FE CAN2 槽1)
+ *        Pitch=GM6020 CAN1 0x206(电流,0x1FE CAN1 槽2)
+ *        摩擦轮 M3508 0x201/0x202(CAN1) 与拨弹 M2006 0x201(CAN2) 的实例也在此初始化 */
 
 #include "dji_motor.h"
 
@@ -19,12 +19,15 @@ extern dji_motor_t motor_yaw_gimbal;    // Yaw GM6020,CAN2 0x205
 extern dji_motor_t motor_pitch_gimbal;  // Pitch GM6020,CAN1 0x206
 extern dji_motor_t motor_friction_l;    // 左摩擦轮 M3508,CAN1 0x201
 extern dji_motor_t motor_friction_r;    // 右摩擦轮 M3508,CAN1 0x202
-extern dji_motor_t motor_rammer;        // 拨弹 M2006,CAN1 0x207
+extern dji_motor_t motor_rammer;        // 拨弹 M2006,CAN2 0x201
+extern float pitch_pid;                 // Pitch PID 输出分量(仅速度环反馈计算)
+extern float pitch_g;                   // Pitch 重力拟合前馈分量
+extern float pitch_current;             // Pitch GM6020 最终电流控制输出(pitch_pid + pitch_g, ±16384)
 
 /* 初始化电机实例与 PID(can_start 之后调用) */
 extern void gimbal_motor_init(void);
 
-/* Yaw 装配符号自检:给 Yaw 电机正向小电压脉冲,按陀螺 z 轴响应方向
+/* Yaw 装配符号自检:给 Yaw 电机正向小电流脉冲,按陀螺 z 轴响应方向
  * 测定符号。阻塞约 200ms(HAL_Delay),检测期间云台会轻转几度。
  * 返回 1-成功(gimbal_yaw_sign() 可用) 0-失败(被按住/电机离线/无响应) */
 extern uint8_t gimbal_detect_yaw_sign(void);
@@ -36,13 +39,22 @@ extern float gimbal_yaw_sign(void);
  * 0=尚未自检。随 0x1A9 flags bit1 下发,供底盘跟随符号自动综合 */
 extern int8_t gimbal_encoder_ccw(void);
 
-/* 云台轴控制:根据 cmd 增量更新目标角并计算电压输出(2ms 调用)
- * 内部发送 CAN2 0x1FF(Yaw)与 CAN1 0x1FF(Pitch+拨弹) */
+/* 云台轴控制:根据 cmd 增量更新目标角并计算电流输出(2ms 调用)
+ * 内部发送 CAN2 0x1FE(Yaw)与 CAN1 0x1FE(Pitch) */
 extern void gimbal_control(float yaw_delta, float pitch_delta, uint8_t reset_flag);
 
 /* 云台任一电机掉线返回 1 */
 extern uint8_t gimbal_motor_offline(void);
 
+/* ===== 2026-10-15 台架调参临时接口(已停用,保留备查) =====
+ * 启用时把 #if 0 改 #if 1,并同步启用 gimbal.c / gimbal_task.c / robot_param.h
+ * / debug_task.c 里的同名停用块 */
+#if 0
+extern float gimbal_bench_pitch_offset;        // 位置环设定值附加偏置(°),台架方波发生器写入
+extern float gimbal_pitch_setpoint_deg(void);  // 位置环实际设定值(°),供调参遥测读取
+extern float gimbal_pitch_speed_ref(void);     // 位置环输出=速度环目标(°/s),判断内环是否限幅
+#endif
+
 /* 云台输出清零(停车) */
 extern void gimbal_output_zero(void);
 
diff --git a/云台/modules/control/shoot.c b/云台/modules/control/shoot.c
index 25c747c..a7e5de1 100644
--- a/云台/modules/control/shoot.c
+++ b/云台/modules/control/shoot.c
@@ -1,10 +1,10 @@
 /* =============================================================================
- * shoot.c - 发射机构:摩擦轮 2xM3508(0x200 CAN1 槽1/2)+ 拨弹 M2006
+ * shoot.c - 发射机构:摩擦轮 2xM3508(0x200 CAN1 槽1/2)+ 拨弹 M2006(0x200 CAN2 槽1)
  * 逻辑(与 legacy 一致):
  *   摩擦轮开关受发射机构上电状态门控(可由 DEBUG_SHOOT_WITHOUT_REFEREE 绕过),
  *   开启时联动激光(PC8=TIM3_CH3 PWM,占空比 0/满 对应关/开)
  *   拨弹仅在摩擦轮开启后允许;fire=GIMBAL_RAMMER_SPEED(-5400),eject 反向
- * 拨弹电流经 shoot_share_rammer_current() 交给云台共帧发送(0x1FF CAN1)
+ *   拨弹电流经 shoot_send_cmd() 经 CAN2 0x200 帧直接发送(ID 1)
  * ========================================================================== */
 #include "shoot.h"
 #include "gimbal.h"
@@ -43,7 +43,7 @@ void shoot_init(void)
     PID_PositionStructureInit(&rammer_pid, GIMBAL_RAMMER_SPEED);
     PID_PositionSetParameter(&rammer_pid, GIMBAL_RAMMER_KP, GIMBAL_RAMMER_KI, GIMBAL_RAMMER_KD);
     PID_PositionSetEkRange(&rammer_pid, -20, 20);
-    PID_PositionSetOUTRange(&rammer_pid, -30000, 30000);
+    PID_PositionSetOUTRange(&rammer_pid, -10000, 10000);
 
     laser_init();
 }
@@ -67,7 +67,7 @@ void shoot_control(uint8_t friction_on, uint8_t fire, uint8_t eject, uint8_t sho
         shoot_friction_flag = 0;
     }
 
-    /* 拨弹:仅在摩擦轮开启时允许 */
+    /* 拨弹:仅在摩擦轮开启后允许 */
     if (shoot_friction_flag)
     {
         if (fire)
@@ -83,19 +83,20 @@ void shoot_control(uint8_t friction_on, uint8_t fire, uint8_t eject, uint8_t sho
     PID_PositionCalc(&friction_l_pid, motor_friction_l.fdb.rotor_speed);
     PID_PositionCalc(&friction_r_pid, motor_friction_r.fdb.rotor_speed);
     PID_PositionCalc(&rammer_pid, motor_rammer.fdb.rotor_speed);
-
-    /* 拨弹电流交给云台控制帧统一发送(0x1FF CAN1 共帧) */
-    shoot_share_rammer_current((int16_t)rammer_pid.OUT);
 }
 
 void shoot_send_cmd(void)
 {
+    /* 摩擦轮 2×M3508:CAN1 0x200 槽1/2 */
     dji_motor_send_current_low(&hcan1, (int16_t)friction_l_pid.OUT, (int16_t)friction_r_pid.OUT, 0, 0);
+    /* 拨弹盘 M2006(ID 1):CAN2 0x200 槽1 */
+    dji_motor_send_current_low(&hcan2, (int16_t)rammer_pid.OUT, 0, 0, 0);
 }
 
 void shoot_output_zero(void)
 {
     dji_motor_send_current_low(&hcan1, 0, 0, 0, 0);
+    dji_motor_send_current_low(&hcan2, 0, 0, 0, 0);
     LASER_OFF();
     shoot_friction_flag = 0;
 }
diff --git a/云台/modules/control/shoot.h b/云台/modules/control/shoot.h
index bf1e642..38ec830 100644
--- a/云台/modules/control/shoot.h
+++ b/云台/modules/control/shoot.h
@@ -3,7 +3,7 @@
 
 #include <stdint.h>
 
-/* 发射机构:摩擦轮 2×M3508(0x200 CAN1 槽1/2)+ 拨弹 M2006(电流由云台共帧发送)
+/* 发射机构:摩擦轮 2×M3508(0x200 CAN1 槽1/2)+ 拨弹 M2006(0x200 CAN2 槽1)
  * 摩擦轮开启时联动激光(PC8,经 TIM3 CH3 PWM) */
 
 /* 初始化摩擦轮/拨弹 PID(can_start 之后调用) */
@@ -14,7 +14,7 @@ extern void shoot_init(void);
  * shooter_power_on:发射机构上电状态(来自底盘 0x019) */
 extern void shoot_control(uint8_t friction_on, uint8_t fire, uint8_t eject, uint8_t shooter_power_on);
 
-/* 发送摩擦轮电流帧(0x200 CAN1) */
+/* 发送摩擦轮(0x200 CAN1)与拨弹(0x200 CAN2)电流帧 */
 extern void shoot_send_cmd(void);
 
 /* 摩擦轮输出清零 */
@@ -23,6 +23,4 @@ extern void shoot_output_zero(void);
 /* 摩擦轮当前开关状态(供激光联动与调试) */
 extern uint8_t shoot_friction_flag;
 
-/* 拨弹电流写入共享变量(由 shoot 模块调用,云台共帧发送) */
-extern void shoot_share_rammer_current(int16_t current);
 #endif
diff --git a/云台/modules/motor/dji_motor.c b/云台/modules/motor/dji_motor.c
index 6a8d78e..2b8dbfd 100644
--- a/云台/modules/motor/dji_motor.c
+++ b/云台/modules/motor/dji_motor.c
@@ -6,9 +6,8 @@
  *       (无 legacy 的 +-1 圈限制,底盘小陀螺时 Yaw 可连续旋转),
  *       记录 last_online_tick 供掉线检测
  * 控制路径(任务上下文):
- *   dji_motor_send_current_low/high()  0x200 / 0x1FF 电流帧(+/-16384 = 20A/10A)
- *   dji_motor_send_voltage_high()      0x2FF 电压帧(GM6020 ID5~7)
- *   注意 0x1FF 帧为 M3508/M2006 高位电流与 GM6020 低位电压共用,按槽位区分
+ *   dji_motor_send_current_low/high()        0x200 / 0x1FF 电流帧(+/-16384 = 20A/10A)
+ *   dji_motor_send_gm6020_current_low/high() 0x1FE / 0x2FE GM6020 电流帧(+/-16384 = 3A)
  * ========================================================================== */
 #include "dji_motor.h"
 
@@ -20,7 +19,8 @@
 static dji_motor_t * dji_motor_list[DJI_MOTOR_MAX];
 static uint8_t dji_motor_count = 0;
 
-static void dji_motor_rx_callback(uint32_t std_id, const uint8_t rx_data[8], uint32_t dlc);
+static void dji_motor_can1_rx_callback(uint32_t std_id, const uint8_t rx_data[8], uint32_t dlc);
+static void dji_motor_can2_rx_callback(uint32_t std_id, const uint8_t rx_data[8], uint32_t dlc);
 
 /* 解析一帧反馈,多圈累计(无 ±1 圈限制,底盘小陀螺时 Yaw 电机可连续旋转) */
 static void dji_motor_parse(dji_motor_t * motor, const uint8_t data[8])
@@ -71,16 +71,32 @@ void dji_motor_init(dji_motor_t * motor, hcan_t * hcan, uint16_t rx_id, dji_moto
     if (dji_motor_count < DJI_MOTOR_MAX)
     {
         dji_motor_list[dji_motor_count++] = motor;
-        can_rx_register(hcan, rx_id, dji_motor_rx_callback);
+        if (hcan == &hcan1)
+            can_rx_register(hcan, rx_id, dji_motor_can1_rx_callback);
+        else
+            can_rx_register(hcan, rx_id, dji_motor_can2_rx_callback);
     }
 }
 
-static void dji_motor_rx_callback(uint32_t std_id, const uint8_t rx_data[8], uint32_t dlc)
+static void dji_motor_can1_rx_callback(uint32_t std_id, const uint8_t rx_data[8], uint32_t dlc)
 {
     (void)dlc;
     for (uint8_t i = 0; i < dji_motor_count; i++)
     {
-        if (dji_motor_list[i]->rx_id == std_id)
+        if (dji_motor_list[i]->hcan == &hcan1 && dji_motor_list[i]->rx_id == std_id)
+        {
+            dji_motor_parse(dji_motor_list[i], rx_data);
+            return;
+        }
+    }
+}
+
+static void dji_motor_can2_rx_callback(uint32_t std_id, const uint8_t rx_data[8], uint32_t dlc)
+{
+    (void)dlc;
+    for (uint8_t i = 0; i < dji_motor_count; i++)
+    {
+        if (dji_motor_list[i]->hcan == &hcan2 && dji_motor_list[i]->rx_id == std_id)
         {
             dji_motor_parse(dji_motor_list[i], rx_data);
             return;
@@ -119,8 +135,14 @@ void dji_motor_send_current_high(hcan_t * hcan, int16_t i5, int16_t i6, int16_t
     dji_motor_send_int16x4(hcan, 0x1FF, v);
 }
 
-void dji_motor_send_voltage_high(hcan_t * hcan, int16_t v5, int16_t v6, int16_t v7)
+void dji_motor_send_gm6020_current_low(hcan_t * hcan, int16_t i1, int16_t i2, int16_t i3, int16_t i4)
 {
-    const int16_t v[4] = {v5, v6, v7, 0};
-    dji_motor_send_int16x4(hcan, 0x2FF, v);
+    const int16_t v[4] = {i1, i2, i3, i4};
+    dji_motor_send_int16x4(hcan, 0x1FE, v);
+}
+
+void dji_motor_send_gm6020_current_high(hcan_t * hcan, int16_t i5, int16_t i6, int16_t i7, int16_t i8)
+{
+    const int16_t v[4] = {i5, i6, i7, i8};
+    dji_motor_send_int16x4(hcan, 0x2FE, v);
 }
diff --git a/云台/modules/motor/dji_motor.h b/云台/modules/motor/dji_motor.h
index 73ad041..1936a41 100644
--- a/云台/modules/motor/dji_motor.h
+++ b/云台/modules/motor/dji_motor.h
@@ -5,13 +5,13 @@
 
 /* DJI 电机(M3508/M2006/GM6020)统一驱动
  * - 反馈:can_start() 后通过 can_rx_register 按 rx_id 注册,接收中断内解析(多圈累计)
- * - 控制:组装 0x200/0x1FF/0x2FF 控制帧,经 CAN_SendTxMessage 发送 */
+ * - 控制:组装 0x200/0x1FF/0x1FE/0x2FE 控制帧,经 CAN_SendTxMessage 发送 */
 
 typedef enum
 {
     DJI_MOTOR_3508,  // 减速比 3591:187(≈19:1), 转矩常数 0.3N·m/A
     DJI_MOTOR_2006,  // 减速比 36:1, 转矩常数 0.18N·m/A
-    DJI_MOTOR_6020,  // 直驱, 电压控制
+    DJI_MOTOR_6020,  // 直驱, 电流控制(ID1~4 为 0x1FE 帧, ±16384 对应 ±3A)
 } dji_motor_type_e;
 
 typedef struct
@@ -20,7 +20,7 @@ typedef struct
     int64_t total_tick;        // 累计角度位置原始数据(8192*圈数+raw,无 ±1 圈限制)
     float rotor_angle_deg;     // 累计转子机械角(°)
     int16_t rotor_speed;       // 转子转速(RPM)
-    int16_t raw_torque;        // 转矩电流/转矩电压原始数据
+    int16_t raw_torque;        // 转矩电流原始数据
     float torque_current;      // 转矩电流(A)
     uint8_t temperature;       // 电机温度(℃)
     uint32_t last_online_tick; // 最近一次收到反馈的 tick(HAL_GetTick)
@@ -39,11 +39,12 @@ extern void dji_motor_init(dji_motor_t * motor, hcan_t * hcan, uint16_t rx_id, d
 
 /* ---- 控制帧发送 ----
  * M3508/M2006 ID1~4:0x200 电流帧(±16384 对应 ±20A/±10A)
- * M3508/M2006 ID5~8:0x1FF 电流帧;GM6020 ID1~4:0x1FF 电压帧(±25000)
- * GM6020 ID5~7:0x2FF 电压帧 */
+ * M3508/M2006 ID5~8:0x1FF 电流帧(±16384)
+ * GM6020 电流控制:ID1~4 为 0x1FE 电流帧(±16384 对应 ±3A),ID5~8 为 0x2FE 电流帧(±16384) */
 extern void dji_motor_send_current_low(hcan_t * hcan, int16_t i1, int16_t i2, int16_t i3, int16_t i4);
 extern void dji_motor_send_current_high(hcan_t * hcan, int16_t i5, int16_t i6, int16_t i7, int16_t i8);
-extern void dji_motor_send_voltage_high(hcan_t * hcan, int16_t v5, int16_t v6, int16_t v7);
+extern void dji_motor_send_gm6020_current_low(hcan_t * hcan, int16_t i1, int16_t i2, int16_t i3, int16_t i4);
+extern void dji_motor_send_gm6020_current_high(hcan_t * hcan, int16_t i5, int16_t i6, int16_t i7, int16_t i8);
 
 /* 通用 int16x4 发送(板间通讯等复用) */
 extern void dji_motor_send_int16x4(hcan_t * hcan, uint32_t std_id, const int16_t val[4]);
diff --git a/底盘/Application/Task/Src/monitor_task.c b/底盘/Application/Task/Src/monitor_task.c
index 8e51245..a134554 100644
--- a/底盘/Application/Task/Src/monitor_task.c
+++ b/底盘/Application/Task/Src/monitor_task.c
@@ -85,8 +85,8 @@ static int8_t linkcheck_first_offline(void)
 {
     uint32_t now = HAL_GetTick();
 #if defined(ROBOT_TYPE_GIMBAL)
-    /* 设备序号:0 摩擦轮L(0x201) 1 摩擦轮R(0x202) 2 Pitch(0x206)
-     *           3 Yaw(0x205) 4 拨弹(0x207,安装时) 5 底盘回传(0x019) */
+    /* 设备序号:0 摩擦轮L(CAN1 0x201) 1 摩擦轮R(CAN1 0x202) 2 Pitch(CAN1 0x206)
+     *           3 Yaw(CAN2 0x205) 4 拨弹(CAN2 0x201,安装时) 5 底盘回传(0x019) */
     if (LINK_OFFLINE(motor_friction_l.fdb.last_online_tick))
         return 0;
     if (LINK_OFFLINE(motor_friction_r.fdb.last_online_tick))
diff --git a/底盘/Application/Task/Src/robot_cmd_task.c b/底盘/Application/Task/Src/robot_cmd_task.c
index 500b4ae..63ae575 100644
--- a/底盘/Application/Task/Src/robot_cmd_task.c
+++ b/底盘/Application/Task/Src/robot_cmd_task.c
@@ -97,8 +97,8 @@ void robot_cmd_task(void const * argument)
 
             if (!keyboard_online)
             {
-                /* 遥控器:左摇杆,输出与摇杆偏量成比例(legacy 为过死区即全速,
-                 * 体感过灵敏),限位门控与方向保持 legacy */
+                /* 遥控器:左摇杆向上(>1050)为抬头(pitch_delta减小,pos向2260减小),门控须 pos > UPPER_LIMIT(2260);
+                 *         左摇杆向下(<1000)为低头(pitch_delta增大,pos向3950增大),门控须 pos < LOWER_LIMIT(3950) */
                 if (dr16.rc_l_UD > 1050 && pos > PITCH_GM6020_POSITION_UPPER_LIMIT)
                     pitch_delta -= GIMBAL_PITCH_LEVER_RATE / 8192.0f * 360.0f *
                                    ((float)dr16.rc_l_UD - 1024.0f) / 660.0f;
@@ -113,13 +113,13 @@ void robot_cmd_task(void const * argument)
             }
             else
             {
-                /* 键鼠:同改为比例输出 */
-                if (keyboard_data.mouse_du < -8 && pos > PITCH_GM6020_POSITION_UPPER_LIMIT)
+                /* 键鼠:鼠标前推(>8)为抬头(pitch_delta减小),门控须 pos > UPPER_LIMIT;鼠标后拉(<-8)为低头(pitch_delta增大),门控须 pos < LOWER_LIMIT */
+                if (keyboard_data.mouse_du > 8 && pos > PITCH_GM6020_POSITION_UPPER_LIMIT)
                     pitch_delta -= GIMBAL_PITCH_LEVER_RATE / 8192.0f * 360.0f *
-                                   (-(float)keyboard_data.mouse_du * PC_MOUSE_DU_SENSITIVITY) / 660.0f;
-                else if (keyboard_data.mouse_du > 8 && pos < PITCH_GM6020_POSITION_LOWER_LIMIT)
-                    pitch_delta += GIMBAL_PITCH_LEVER_RATE / 8192.0f * 360.0f *
                                    ((float)keyboard_data.mouse_du * PC_MOUSE_DU_SENSITIVITY) / 660.0f;
+                else if (keyboard_data.mouse_du < -8 && pos < PITCH_GM6020_POSITION_LOWER_LIMIT)
+                    pitch_delta += GIMBAL_PITCH_LEVER_RATE / 8192.0f * 360.0f *
+                                   (-(float)keyboard_data.mouse_du * PC_MOUSE_DU_SENSITIVITY) / 660.0f;
 
                 if (keyboard_data.mouse_rl != 0)
                     yaw_delta -= GIMBAL_LEVER_SPEED_MAP_RATE * GIMBAL_YAW_PITCH_SPEED_RATE *
diff --git a/底盘/Application/robot_param.h b/底盘/Application/robot_param.h
index 4e76675..07a3a89 100644
--- a/底盘/Application/robot_param.h
+++ b/底盘/Application/robot_param.h
@@ -9,11 +9,11 @@
 #define ROBOT_PARAM_H
 
 /* ============================ 云台 ============================ */
-#define PITCH_GM6020_POSITION_LOWER_LIMIT   3990    // Pitch 轴编码器值下限(云台抬起方向)
-#define PITCH_GM6020_POSITION_UPPER_LIMIT   2220    // Pitch 轴编码器值上限(云台压低方向)
-#define PITCH_GM6020_ENCODER_ZERO           3245    // Pitch 轴编码器零位
-#define YAW_GM6020_ENCODER_ZERO             6804    // Yaw 轴编码器零位(机械正前方,0~8191)
-#define CHASSIS_SPIN_FEEDFORWARD_K          0.0725f  // 小陀螺解算时延前馈补偿系数(s)
+#define PITCH_GM6020_POSITION_UPPER_LIMIT   2260    // Pitch 轴抬起极限(最高位,编码器较小值;实测2203撞死限位,留余量设2260)
+#define PITCH_GM6020_POSITION_LOWER_LIMIT   3950    // Pitch 轴压低极限(最低位,编码器较大值;实测4234撞死限位,留余量设3950)
+#define PITCH_GM6020_ENCODER_ZERO           3200    // Pitch 轴编码器水平零位
+#define YAW_GM6020_ENCODER_ZERO             7730    // Yaw 轴编码器零位(机械正前方,0~8191)
+#define CHASSIS_SPIN_FEEDFORWARD_K          0.008f  // 小陀螺解算时延前馈补偿系数(s)
 
 #define GIMBAL_FRICTION_WHEEL_SPEED         5500.0f // 摩擦轮转速(RPM)
 #define GIMBAL_RAMMER_SPEED                 -5400.0f// 拨弹盘转速(RPM,负向发射)
@@ -31,7 +31,7 @@
  *    这是反复"疯转"的根源,已废弃;
  *  - 现在两环共用陀螺,整条链只有一个装配符号,由上电自检自动测定
  *    (GIMBAL_YAW_DETECT 见下),无需人工猜;
- *  - 单位:角度环 误差° -> 目标角速度°/s;速度环 误差°/s -> 电压。
+ *  - 单位:角度环 误差° -> 目标角速度°/s;速度环 误差°/s -> 电流。
  * 调参顺序:先速度环(点动不振荡),再位置环(刚性)——见移植 README §8.1 */
 #define GIMBAL_YAW_ANGLE_KP                 20.0f   // ° -> °/s:10° 误差给 150°/s
 #define GIMBAL_YAW_ANGLE_KI                 0.0f
@@ -39,28 +39,35 @@
 #define GIMBAL_YAW_ANGLE_EK_DEADBAND        0.05f   // 误差死区(°),QEKF 噪声小可用窄死区
 #define GIMBAL_YAW_ANGLE_OUT_LIMIT          360.0f  // 目标角速度上限(°/s)
 
-#define GIMBAL_YAW_SPEED_KP                 85.0f   // °/s -> 电压:100°/s 误差给 6000(约 24% 满电压)
+#define GIMBAL_YAW_SPEED_KP                 85.0f   // °/s -> 电流:100°/s 误差给 6000(约 36% 满电流)
 #define GIMBAL_YAW_SPEED_KI                 0.0f    // 稳定后可回填 0.5~2 消速度稳态差
 #define GIMBAL_YAW_SPEED_KD                 0.0f    // 陀螺速率反馈噪声小,先不用 D
-#define GIMBAL_YAW_SPEED_OUT_LIMIT          25000.0f// GM6020 电压限幅
-#define GIMBAL_YAW_SPIN_FEEDFORWARD_K       24.0f   // 小陀螺底盘自旋解耦前馈系数(RPM->电压,通常15~35)
+#define GIMBAL_YAW_SPEED_OUT_LIMIT          16384.0f// GM6020 电流限幅(±16384 对应 ±3A)
+#define GIMBAL_YAW_SPIN_FEEDFORWARD_K       24.0f   // 小陀螺底盘自旋解耦前馈系数(RPM->电流)
 
-/* Yaw 装配符号自动检测:上电自检时给 Yaw 电机一个正向小电压脉冲,
+/* Yaw 装配符号自动检测:上电自检时给 Yaw 电机一个正向小电流脉冲,
  * 看陀螺 z 轴往哪边转——脉冲引起同向转动则符号 +1,反向则 -1。
  * 检测时云台会轻转几度,勿扶云台;失败(被按住/电机离线)时用 FALLBACK */
 #define GIMBAL_YAW_SIGN_AUTO                1       // 1=上电自动检测 0=直接用 FALLBACK
 #define GIMBAL_YAW_SIGN_FALLBACK            (1.0f)
-#define GIMBAL_YAW_DETECT_VOLTAGE           5000    // 检测脉冲电压(约 20% 满电压)
+#define GIMBAL_YAW_DETECT_CURRENT           3500    // 检测脉冲电流(约 21% 满电流 16384)
 #define GIMBAL_YAW_DETECT_RATE_MIN          20.0f   // 判定转动的陀螺速率阈值(°/s)
 
 /* ---- Pitch(位置环陀螺 Roll,速度环转子转速——Pitch 无符号史问题,维持原案) ---- */
-#define GIMBAL_PITCH_ANGLE_EK_DEADBAND      0.3f    // 位置环误差死区(°)
-#define GIMBAL_PITCH_ANGLE_KP               15.0f
+#define GIMBAL_PITCH_ANGLE_EK_DEADBAND      0.05f   // 误差死区(°),收窄死区消除边缘阶跃
+#define GIMBAL_PITCH_ANGLE_KP               40.0f
 #define GIMBAL_PITCH_ANGLE_KI               0.0f
-#define GIMBAL_PITCH_ANGLE_KD               100.0f
-#define GIMBAL_PITCH_SPEED_KP               150.0f
-#define GIMBAL_PITCH_SPEED_KI               0.001f
-#define GIMBAL_PITCH_SPEED_KD               5.0f
+#define GIMBAL_PITCH_ANGLE_KD               0.0f    // 原100.0f是万级电流振颤主因!清零以消除剧烈振荡
+#define GIMBAL_PITCH_SPEED_KP               100.0f   // 速度/电流环Kp
+#define GIMBAL_PITCH_SPEED_KI               0.0f
+#define GIMBAL_PITCH_SPEED_KD               0.0f
+
+/* Pitch 重力拟合前馈参数: I_g = K_COS * cos(a) + K_SIN * sin(a) + K_CONST
+ * 其中 a = (raw_angle - ZERO_ECD) * 360 / 8192 (°) */
+#define GIMBAL_PITCH_GRAVITY_ZERO_ECD       3200.0f // 重力补偿拟合基准编码值
+#define GIMBAL_PITCH_GRAVITY_K_COS          2856.1f// cos 项系数
+#define GIMBAL_PITCH_GRAVITY_K_SIN          4340.3f// sin 项系数
+#define GIMBAL_PITCH_GRAVITY_K_CONST        2826.5f  // 常数偏置项
 
 #define GIMBAL_FRICTION_WHEEL_KP            16.0f
 #define GIMBAL_FRICTION_WHEEL_KI            0.0f
@@ -97,7 +104,7 @@
 #define CHASSIS_FOLLOW_KP                   0.4678f    // w 量纲/°:10° 偏差给 w=4
 #define CHASSIS_FOLLOW_KI                   0.0f    // 调试期 0,同旧教训(积分残留)
 #define CHASSIS_FOLLOW_KD                   24.452f
-#define CHASSIS_FOLLOW_OUT_LIMIT            4.5f    // 输出限幅(介于慢/快陀螺之间)
+#define CHASSIS_FOLLOW_OUT_LIMIT            5.5f    // 输出限幅(介于慢/快陀螺之间)
 #define CHASSIS_FOLLOW_DEADBAND             1.0f    // 误差死区(°)
 
 /* 跟随符号全自动综合:云台自检(0x1A9 flags)下发编码器 tick 增向,
@@ -119,8 +126,8 @@
 #define CTOC_SLAVE_ID3   0x1A9  // 云台->底盘:云台世界系 yaw(float)+att_ready
 
 /* ============================ CAN ID ============================ */
-/* 云台板:CAN1 = Pitch GM6020(0x206)+摩擦轮 M3508(0x201/0x202)
- *        CAN2 = Yaw GM6020(0x205)+底盘回传(0x019)
+/* 云台板:CAN1 = Pitch GM6020(0x206,0x1FE)+摩擦轮 M3508(0x201/0x202,0x200)
+ *        CAN2 = Yaw GM6020(0x205,0x1FE)+拨弹 M2006(0x201,0x200)+底盘回传(0x019)
  * 底盘板:CAN1 = 四轮 M3508(0x201~0x204)
  *        CAN2 = 云台数据(0x149/0x189/0x1A9) */
 
@@ -128,11 +135,10 @@
 #define DEBUG_SHOOT_WITHOUT_REFEREE  1  // 1=无裁判系统时也允许开摩擦轮(台架调试用),比赛请改 0
 #define GIMBAL_RAMMER_INSTALLED      0  // 1=拨弹 M2006 已安装;0=暂缺,不参与掉线判定
 
-/* 1=调试模式:把 CAN 掉线警告音替换成循环播放的旋律(台架调试时避免连续滴滴声
- *   干扰)。红灯常亮与其它灯语完全不变,仍能看出是哪台设备掉线;比赛请改 0。
- * 旋律音符表见 modules/BUZZER/buzzer.c 的 buzzer_melody[] */
+/* 1=把 CAN 掉线警告音替换成循环播放的旋律《你》(RM动画片尾曲),报警时播放;
+ * 旋律音符表见 modules/dev/buzzer.c 的 buzzer_melody[] */
 #define DEBUG_BUZZER_MELODY          0
-#define BUZZER_MELODY_SPEED_DIV      1   // 旋律降速分频(默认1:每步100ms精准匹配原版带吐音断音节拍)   // 旋律降速分频(默认2:放慢一倍匹配原曲抒情节拍;设为3/4可进一步放慢)
+#define BUZZER_MELODY_SPEED_DIV      1   // 旋律降速分频(默认1:每步100ms精准匹配原版带吐音断音节拍)
 
 /* ============================ 掉线检测 ============================ */
 #define DEVICE_OFFLINE_TIME_MS 100   // CAN 设备/裁判系统掉线判定时间
diff --git a/底盘/modules/motor/dji_motor.c b/底盘/modules/motor/dji_motor.c
index 6a8d78e..2b8dbfd 100644
--- a/底盘/modules/motor/dji_motor.c
+++ b/底盘/modules/motor/dji_motor.c
@@ -6,9 +6,8 @@
  *       (无 legacy 的 +-1 圈限制,底盘小陀螺时 Yaw 可连续旋转),
  *       记录 last_online_tick 供掉线检测
  * 控制路径(任务上下文):
- *   dji_motor_send_current_low/high()  0x200 / 0x1FF 电流帧(+/-16384 = 20A/10A)
- *   dji_motor_send_voltage_high()      0x2FF 电压帧(GM6020 ID5~7)
- *   注意 0x1FF 帧为 M3508/M2006 高位电流与 GM6020 低位电压共用,按槽位区分
+ *   dji_motor_send_current_low/high()        0x200 / 0x1FF 电流帧(+/-16384 = 20A/10A)
+ *   dji_motor_send_gm6020_current_low/high() 0x1FE / 0x2FE GM6020 电流帧(+/-16384 = 3A)
  * ========================================================================== */
 #include "dji_motor.h"
 
@@ -20,7 +19,8 @@
 static dji_motor_t * dji_motor_list[DJI_MOTOR_MAX];
 static uint8_t dji_motor_count = 0;
 
-static void dji_motor_rx_callback(uint32_t std_id, const uint8_t rx_data[8], uint32_t dlc);
+static void dji_motor_can1_rx_callback(uint32_t std_id, const uint8_t rx_data[8], uint32_t dlc);
+static void dji_motor_can2_rx_callback(uint32_t std_id, const uint8_t rx_data[8], uint32_t dlc);
 
 /* 解析一帧反馈,多圈累计(无 ±1 圈限制,底盘小陀螺时 Yaw 电机可连续旋转) */
 static void dji_motor_parse(dji_motor_t * motor, const uint8_t data[8])
@@ -71,16 +71,32 @@ void dji_motor_init(dji_motor_t * motor, hcan_t * hcan, uint16_t rx_id, dji_moto
     if (dji_motor_count < DJI_MOTOR_MAX)
     {
         dji_motor_list[dji_motor_count++] = motor;
-        can_rx_register(hcan, rx_id, dji_motor_rx_callback);
+        if (hcan == &hcan1)
+            can_rx_register(hcan, rx_id, dji_motor_can1_rx_callback);
+        else
+            can_rx_register(hcan, rx_id, dji_motor_can2_rx_callback);
     }
 }
 
-static void dji_motor_rx_callback(uint32_t std_id, const uint8_t rx_data[8], uint32_t dlc)
+static void dji_motor_can1_rx_callback(uint32_t std_id, const uint8_t rx_data[8], uint32_t dlc)
 {
     (void)dlc;
     for (uint8_t i = 0; i < dji_motor_count; i++)
     {
-        if (dji_motor_list[i]->rx_id == std_id)
+        if (dji_motor_list[i]->hcan == &hcan1 && dji_motor_list[i]->rx_id == std_id)
+        {
+            dji_motor_parse(dji_motor_list[i], rx_data);
+            return;
+        }
+    }
+}
+
+static void dji_motor_can2_rx_callback(uint32_t std_id, const uint8_t rx_data[8], uint32_t dlc)
+{
+    (void)dlc;
+    for (uint8_t i = 0; i < dji_motor_count; i++)
+    {
+        if (dji_motor_list[i]->hcan == &hcan2 && dji_motor_list[i]->rx_id == std_id)
         {
             dji_motor_parse(dji_motor_list[i], rx_data);
             return;
@@ -119,8 +135,14 @@ void dji_motor_send_current_high(hcan_t * hcan, int16_t i5, int16_t i6, int16_t
     dji_motor_send_int16x4(hcan, 0x1FF, v);
 }
 
-void dji_motor_send_voltage_high(hcan_t * hcan, int16_t v5, int16_t v6, int16_t v7)
+void dji_motor_send_gm6020_current_low(hcan_t * hcan, int16_t i1, int16_t i2, int16_t i3, int16_t i4)
 {
-    const int16_t v[4] = {v5, v6, v7, 0};
-    dji_motor_send_int16x4(hcan, 0x2FF, v);
+    const int16_t v[4] = {i1, i2, i3, i4};
+    dji_motor_send_int16x4(hcan, 0x1FE, v);
+}
+
+void dji_motor_send_gm6020_current_high(hcan_t * hcan, int16_t i5, int16_t i6, int16_t i7, int16_t i8)
+{
+    const int16_t v[4] = {i5, i6, i7, i8};
+    dji_motor_send_int16x4(hcan, 0x2FE, v);
 }
diff --git a/底盘/modules/motor/dji_motor.h b/底盘/modules/motor/dji_motor.h
index 73ad041..1936a41 100644
--- a/底盘/modules/motor/dji_motor.h
+++ b/底盘/modules/motor/dji_motor.h
@@ -5,13 +5,13 @@
 
 /* DJI 电机(M3508/M2006/GM6020)统一驱动
  * - 反馈:can_start() 后通过 can_rx_register 按 rx_id 注册,接收中断内解析(多圈累计)
- * - 控制:组装 0x200/0x1FF/0x2FF 控制帧,经 CAN_SendTxMessage 发送 */
+ * - 控制:组装 0x200/0x1FF/0x1FE/0x2FE 控制帧,经 CAN_SendTxMessage 发送 */
 
 typedef enum
 {
     DJI_MOTOR_3508,  // 减速比 3591:187(≈19:1), 转矩常数 0.3N·m/A
     DJI_MOTOR_2006,  // 减速比 36:1, 转矩常数 0.18N·m/A
-    DJI_MOTOR_6020,  // 直驱, 电压控制
+    DJI_MOTOR_6020,  // 直驱, 电流控制(ID1~4 为 0x1FE 帧, ±16384 对应 ±3A)
 } dji_motor_type_e;
 
 typedef struct
@@ -20,7 +20,7 @@ typedef struct
     int64_t total_tick;        // 累计角度位置原始数据(8192*圈数+raw,无 ±1 圈限制)
     float rotor_angle_deg;     // 累计转子机械角(°)
     int16_t rotor_speed;       // 转子转速(RPM)
-    int16_t raw_torque;        // 转矩电流/转矩电压原始数据
+    int16_t raw_torque;        // 转矩电流原始数据
     float torque_current;      // 转矩电流(A)
     uint8_t temperature;       // 电机温度(℃)
     uint32_t last_online_tick; // 最近一次收到反馈的 tick(HAL_GetTick)
@@ -39,11 +39,12 @@ extern void dji_motor_init(dji_motor_t * motor, hcan_t * hcan, uint16_t rx_id, d
 
 /* ---- 控制帧发送 ----
  * M3508/M2006 ID1~4:0x200 电流帧(±16384 对应 ±20A/±10A)
- * M3508/M2006 ID5~8:0x1FF 电流帧;GM6020 ID1~4:0x1FF 电压帧(±25000)
- * GM6020 ID5~7:0x2FF 电压帧 */
+ * M3508/M2006 ID5~8:0x1FF 电流帧(±16384)
+ * GM6020 电流控制:ID1~4 为 0x1FE 电流帧(±16384 对应 ±3A),ID5~8 为 0x2FE 电流帧(±16384) */
 extern void dji_motor_send_current_low(hcan_t * hcan, int16_t i1, int16_t i2, int16_t i3, int16_t i4);
 extern void dji_motor_send_current_high(hcan_t * hcan, int16_t i5, int16_t i6, int16_t i7, int16_t i8);
-extern void dji_motor_send_voltage_high(hcan_t * hcan, int16_t v5, int16_t v6, int16_t v7);
+extern void dji_motor_send_gm6020_current_low(hcan_t * hcan, int16_t i1, int16_t i2, int16_t i3, int16_t i4);
+extern void dji_motor_send_gm6020_current_high(hcan_t * hcan, int16_t i5, int16_t i6, int16_t i7, int16_t i8);
 
 /* 通用 int16x4 发送(板间通讯等复用) */
 extern void dji_motor_send_int16x4(hcan_t * hcan, uint32_t std_id, const int16_t val[4]);