Merge remote-tracking branch 'origin/master'

others/src/camera/camera_wrapper.cpp

@@ -65,11 +65,14 @@ stop:
             tCapability.sResolutionRange.iWidthMax * 3);
     if(mode == 0){
         // 不使用自动曝光
-        CameraSetAeState(h_camera, true);
+        CameraSetAeState(h_camera, false);
         // 曝光时间10ms
-//        CameraSetExposureTime(h_camera, 10000);
+        CameraSetExposureTime(h_camera, 10000);
+        double t;
+        CameraGetExposureTime(h_camera, &t);
+        LOGM("Exposure time: %lfms", t/1000.0);
         // 模拟增益4
-        CameraSetAnalogGain(h_camera, 64);
+        CameraSetAnalogGain(h_camera, 55);
         // 使用预设LUT表
         CameraSetLutMode(h_camera, LUTMODE_PRESET);
         // 抗频闪
@@ -90,7 +93,7 @@ stop:
     /*其他的相机参数设置
     例如 CameraSetExposureTime   CameraGetExposureTime  设置/读取曝光时间
          CameraSetImageResolution  CameraGetImageResolution 设置/读取分辨率
-         CameraSetGamma、CameraSetConrast、CameraSetGain等设置图像伽马、对比度、RGB数字增益等等。
+         CameraSetGamma、CameraSetContrast、CameraSetGain等设置图像伽马、对比度、RGB数字增益等等。
          CameraGetFriendlyName    CameraSetFriendlyName 获取/设置相机名称（该名称可写入相机硬件）
     */
 

others/src/uart/uart.cpp

@@ -4,6 +4,7 @@
 
 #include <uart/uart.h>
 #include <energy/param_struct_define.h>
+#include <log.h>
 
 using std::cout;
 using std::cerr;
@@ -16,7 +17,6 @@ GMAngle_t aim;
 
 
 Uart::Uart(){
-
     fd = open("/dev/ttyUSB0", O_RDWR);
     if(fd < 0)
     {
@@ -150,12 +150,8 @@ void Uart::sendTarget(float x, float y, float z) {
 
 }
 
-// 's' + (x) ( 8bit + 8bit ) + (y) ( 8bit + 8bit ) + (z) ( 8bit + 8bit ) + 'e'
-
-
 uint8_t Uart::receive() {
     uint8_t data;
     while(read(fd, &data, 1) < 1);
     return data;
 }
-