修改报错

src/MindVisionMain.cpp

@@ -20,33 +20,40 @@
 #include "TTLCommunicator.h"
 #include "PidController.h"
 
-// Global PID controllers for pitch and yaw
+// Function to safely access PID controllers (avoiding static initialization order issues)
-PidController pitch_pid(0.1f, 0.01f, 0.05f); // Default PID values for pitch
+PidController& getPitchPid() {
-PidController yaw_pid(0.1f, 0.01f, 0.05f);   // Default PID values for yaw
+    static PidController pitch_pid(0.1f, 0.01f, 0.05f);
+    return pitch_pid;
+}
 
-// Callback functions for trackbars - use direct access to global objects
+PidController& getYawPid() {
+    static PidController yaw_pid(0.1f, 0.01f, 0.05f);
+    return yaw_pid;
+}
+
+// Callback functions for trackbars - use safe access to PID controllers
 void on_pitch_kp_trackbar(int pos, void*) {
-    pitch_pid.setKp(pos / 100.0f);
+    getPitchPid().setKp(pos / 100.0f);
 }
 
 void on_pitch_ki_trackbar(int pos, void*) {
-    pitch_pid.setKi(pos / 1000.0f);
+    getPitchPid().setKi(pos / 1000.0f);
 }
 
 void on_pitch_kd_trackbar(int pos, void*) {
-    pitch_pid.setKd(pos / 100.0f);
+    getPitchPid().setKd(pos / 100.0f);
 }
 
 void on_yaw_kp_trackbar(int pos, void*) {
-    yaw_pid.setKp(pos / 100.0f);
+    getYawPid().setKp(pos / 100.0f);
 }
 
 void on_yaw_ki_trackbar(int pos, void*) {
-    yaw_pid.setKi(pos / 1000.0f);
+    getYawPid().setKi(pos / 1000.0f);
 }
 
 void on_yaw_kd_trackbar(int pos, void*) {
-    yaw_pid.setKd(pos / 100.0f);
+    getYawPid().setKd(pos / 100.0f);
 }
 
 // Function to output control data to TTL device (with enable control)
@@ -71,23 +78,31 @@ void output_control_data(const cv::Point2f* ballistic_point,
         last_time = current_time;
 
         // Apply PID control to the pitch (vertical) component
-        float pid_pitch_output = pitch_pid.update(0.0f, raw_offset_y, dt); // Setpoint is 0, error is raw_offset_y
+        float pid_pitch_output = getPitchPid().update(0.0f, raw_offset_y, dt); // Setpoint is 0, error is raw_offset_y
 
         // Apply PID control to the yaw (horizontal) component
-        float pid_yaw_output = yaw_pid.update(0.0f, raw_offset_x, dt); // Setpoint is 0, error is raw_offset_x
+        float pid_yaw_output = getYawPid().update(0.0f, raw_offset_x, dt); // Setpoint is 0, error is raw_offset_x
 
         // Convert PID outputs to the expected format
         // The PID output might be large, so we might need to scale it
         int ballistic_offset_yaw = static_cast<int>(pid_yaw_output);
         int ballistic_offset_pitch = static_cast<int>(pid_pitch_output);
 
-        // Apply same limits as before
+        // Apply same limits as before with division by zero check
         if (abs(ballistic_offset_yaw) > 320) {
+            if (ballistic_offset_yaw != 0) {
                 ballistic_offset_yaw = (ballistic_offset_yaw / abs(ballistic_offset_yaw)) * 220; // Keep the scale factor
+            } else {
+                ballistic_offset_yaw = 220; // or some default value
+            }
         }
         if (abs(ballistic_offset_pitch) > 180) {
             // Use the same scale factor as before
-            ballistic_offset_pitch = (ballistic_offset_pitch / abs(ballistic_offset_pitch)) * 180 * ;
+            if (ballistic_offset_pitch != 0) {
+                ballistic_offset_pitch = (ballistic_offset_pitch / abs(ballistic_offset_pitch)) * 180 * 1.9;
+            } else {
+                ballistic_offset_pitch = 180 * 1.9; // or some default value
+            }
         }
 
         // Color simplification mapping
@@ -364,12 +379,12 @@ int main(int /*argc*/, char* /*argv*/[]) {
                 cv::createTrackbar("Yaw Kd", "PID Tuning", nullptr, 1000, on_yaw_kd_trackbar);
 
                 // Set initial positions
-                cv::setTrackbarPos("Pitch Kp", "PID Tuning", static_cast<int>(pitch_pid.getKp() * 100));
+                cv::setTrackbarPos("Pitch Kp", "PID Tuning", static_cast<int>(getPitchPid().getKp() * 100));
-                cv::setTrackbarPos("Pitch Ki", "PID Tuning", static_cast<int>(pitch_pid.getKi() * 1000));
+                cv::setTrackbarPos("Pitch Ki", "PID Tuning", static_cast<int>(getPitchPid().getKi() * 1000));
-                cv::setTrackbarPos("Pitch Kd", "PID Tuning", static_cast<int>(pitch_pid.getKd() * 100));
+                cv::setTrackbarPos("Pitch Kd", "PID Tuning", static_cast<int>(getPitchPid().getKd() * 100));
-                cv::setTrackbarPos("Yaw Kp", "PID Tuning", static_cast<int>(yaw_pid.getKp() * 100));
+                cv::setTrackbarPos("Yaw Kp", "PID Tuning", static_cast<int>(getYawPid().getKp() * 100));
-                cv::setTrackbarPos("Yaw Ki", "PID Tuning", static_cast<int>(yaw_pid.getKi() * 1000));
+                cv::setTrackbarPos("Yaw Ki", "PID Tuning", static_cast<int>(getYawPid().getKi() * 1000));
-                cv::setTrackbarPos("Yaw Kd", "PID Tuning", static_cast<int>(yaw_pid.getKd() * 100));
+                cv::setTrackbarPos("Yaw Kd", "PID Tuning", static_cast<int>(getYawPid().getKd() * 100));
 
                 initialized_trackbars = true;
             }