From 9d226bec350fc818570aa43204c3070b8b719e3d Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E8=B5=B7=E5=BA=8A=E5=B0=B1=E7=8A=AF=E5=9B=B0?=
 <11730503+psx123456@user.noreply.gitee.com>
Date: Sat, 28 Jun 2025 09:00:50 +0800
Subject: [PATCH] =?UTF-8?q?=E6=B5=8B=E8=AF=95hall=E9=80=9F=E5=BA=A6?=
 =?UTF-8?q?=E8=AE=A1=E7=AE=97?=
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---
 APP/Appcfg/app.c                        | 8 +++++++-
 APP/Device/Device_speed/speed_to_bldc.c | 4 ++--
 APP/Device/Device_speed/speed_to_bldc.h | 4 ++--
 APP/Service/service_statusmonitor.c     | 2 +-
 4 files changed, 12 insertions(+), 6 deletions(-)

diff --git a/APP/Appcfg/app.c b/APP/Appcfg/app.c
index 0129c58..537d728 100644
--- a/APP/Appcfg/app.c
+++ b/APP/Appcfg/app.c
@@ -283,8 +283,14 @@ static void task_print()
 //     p_tcb = p_tcb->OSTCBPrev;
 //   }
 //   term_printf("\r\n");
-    term_printf("h_angle:%f, v_angle:%f\n", as5047d_hori_get_angle_a(), as5047d_vert_get_angle_a());
+    // term_printf("h_angle:%f, v_angle:%f\n", as5047d_hori_get_angle_a(), as5047d_vert_get_angle_a());
+    // term_printf("PidUT_uint : %d \n", g_ptz.hori_pid.PidUT_uint);
 
+    // pdebug(DEBUG_LEVEL_DEBUG, "PidUT_uint : %d \n", g_ptz.hori_pid.PidUT_uint);
+
+    static char data[50] = {0};
+    sprintf(data, "PidUT_uint : %d\n", g_ptz.hori_pid.PidUT_uint);
+    ptz_uart_dev_send(uart_485_handle, data, sizeof(data));
 
   OSTimeDlyHMSM(0u, 0u, 1u, 0u);
 }
diff --git a/APP/Device/Device_speed/speed_to_bldc.c b/APP/Device/Device_speed/speed_to_bldc.c
index 52b3dfb..980bf7c 100644
--- a/APP/Device/Device_speed/speed_to_bldc.c
+++ b/APP/Device/Device_speed/speed_to_bldc.c
@@ -1779,8 +1779,8 @@ void get_hori_speed(void)
         }
 
         //将PID输出的电机转速模拟电压等级输入到模拟电压输出芯片      
-        h_pwm_duty_change(g_ptz.hori_pid.PidUT_uint);
-        // h_pwm_duty_change(600);
+        // h_pwm_duty_change(g_ptz.hori_pid.PidUT_uint);
+        h_pwm_duty_change(450);
         
         //将当前PID输出值保存
         g_ptz.hori_pid.LastUT_float = g_ptz.hori_pid.PidUT_float;
diff --git a/APP/Device/Device_speed/speed_to_bldc.h b/APP/Device/Device_speed/speed_to_bldc.h
index 9dadf7d..e952049 100644
--- a/APP/Device/Device_speed/speed_to_bldc.h
+++ b/APP/Device/Device_speed/speed_to_bldc.h
@@ -233,8 +233,8 @@
     //   #define PTZ_HALL_SPEED_SL         1
 
       #define PTZ_HORI_PID_T             30u
-      #define PTZ_HORI_PID_HORI_KP       50.0        //比例系数
-      #define PTZ_HORI_PID_HORI_TI       2.5     //积分系数
+      #define PTZ_HORI_PID_HORI_KP       25.0        //比例系数
+      #define PTZ_HORI_PID_HORI_TI       0.5     //积分系数
       #define PTZ_HORI_PID_HORI_TD       0.0        //微分系数
 
       #define PTZ_HORI_PID_INPUT_LIMIT   100.0//PID调速输入值限定
diff --git a/APP/Service/service_statusmonitor.c b/APP/Service/service_statusmonitor.c
index 51cd3f4..3b1665d 100644
--- a/APP/Service/service_statusmonitor.c
+++ b/APP/Service/service_statusmonitor.c
@@ -859,7 +859,7 @@ static char ptz_fault_detect_task()
     ptz_temp_volt_current_fault_detect_task();
     //电机hall故障
     #ifdef PTZ_BLDC_MOTOR
-    ptz_motor_hall_fault_detect_task();
+    // ptz_motor_hall_fault_detect_task();
     #endif
     //故障回传
     ptz_fault_return_task();