yaw正方向修正

2026-10-10 21:17:58 +08:00
parent 79a545b379
commit 67eea77789
2 changed files with 4 additions and 4 deletions
@@ -12,7 +12,7 @@
 #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             4440    // Yaw 轴编码器零位(机械正前方,0~8191)
+#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          0.008f  // 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)
@@ -130,7 +130,7 @@

 /* 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          1
+#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)

 /* ============================ 掉线检测 ============================ */