电流环控制，并实现简单的补偿控制，还差参数具体化。

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)