From f88f3da8f132cd1dd321dfc584a1fe68b6eb2138 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期四, 04 十二月 2025 21:49:01 +0800
Subject: [PATCH] 在跑校准了，还是有些问题,GPS坐标有时候不更新

---
 STM32H743/FML/motion_config.h |   20 +++++++++++++++++++-
 1 files changed, 19 insertions(+), 1 deletions(-)

diff --git a/STM32H743/FML/motion_config.h b/STM32H743/FML/motion_config.h
index 714c272..f97f340 100644
--- a/STM32H743/FML/motion_config.h
+++ b/STM32H743/FML/motion_config.h
@@ -42,5 +42,23 @@
 #define MC_CFG_PWM_CENTER_US             (1500U)
 #define MC_CFG_PWM_SPAN_US               (500U)
 
-#endif /* FML_MOTION_CONFIG_H_ */
+/*******************************************************************************
+ * 鏍″噯鍙傛暟锛堝熀浜庡疄娴嬫暟鎹紝鏃ユ湡锛�2025-12-04锛�
+ * 鍓嶅悜閫熷害妯″瀷锛歷 = MC_CFG_FORWARD_K 脳 (1500 - pwm) + MC_CFG_FORWARD_BIAS
+ * 璇存槑锛�1000 PWM = 鏈�澶у墠杩涳紝1500 PWM = 鍋滄锛�2000 PWM = 鏈�澶у悗閫�
+ *******************************************************************************/
+#define MC_CFG_FORWARD_K                 (0.001362f)   // 閫熷害绯绘暟 (m/s per PWM)
+#define MC_CFG_FORWARD_BIAS              (-0.0325f)    // 閫熷害鍋忕疆 (m/s)
+#define MC_CFG_FORWARD_DEADZONE_PWM      (30)          // 鍓嶈繘姝诲尯闃堝��
+
+/* 杞悜瑙掗�熷害妯″瀷锛毾� = MC_CFG_STEERING_K 脳 (1500 - pwm) for left/right */
+#define MC_CFG_STEERING_K_LEFT           (0.00010f)    // 宸﹁浆绯绘暟 (rad/s per PWM)
+#define MC_CFG_STEERING_K_RIGHT          (0.00010f)    // 鍙宠浆绯绘暟 (rad/s per PWM)
+#define MC_CFG_STEERING_TRIM             (10)          // 杞悜琛ュ伩鍊硷紙淇宸﹀亸锛�
+
+/* 鍩轰簬鏍″噯鏁版嵁鏇存柊閫熷害闄愬埗 */
+#undef MC_CFG_MAX_FORWARD_MPS
+#define MC_CFG_MAX_FORWARD_MPS           (0.65f)       // 瀹炴祴鏈�澶у墠杩涢�熷害 (1000 PWM)
+
+#endif /* FML_MOTION_CONFIG_H */
 

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