1.0

App/nav/corridor_ctrl.c

@@ -42,9 +42,9 @@ void CorridorCtrl_Compute(const CorridorState_t *state,
      * - kp_y * e_y : 横向纠偏，车身偏了就产生角速度拉回来
      * ======================================================== */
 
-    float w_cmd = s_cfg.kp_theta * state->e_th
-                + s_cfg.kd_theta * (-imu_wz)
-                + s_cfg.kp_y    * state->e_y;
+    float w_cmd = -(s_cfg.kp_theta * state->e_th
+                  + s_cfg.kd_theta * imu_wz
+                  + s_cfg.kp_y    * state->e_y);
 
     /* 角速度限幅：防止 PD 溢出导致原地打转 */
     w_cmd = clampf(w_cmd, -s_cfg.w_max, s_cfg.w_max);