From c0ee46911821821005d70d186a60f2f27f5e7799 Mon Sep 17 00:00:00 2001
From: HelixCopex <huanghaoyu@simba-robotics.com>
Date: Tue, 17 Mar 2026 18:10:15 +0800
Subject: [PATCH] =?UTF-8?q?=E5=8F=82=E6=95=B0=E4=BF=AE=E6=94=B9=EF=BC=8C?=
 =?UTF-8?q?=E7=A1=AE=E8=AE=A4=20PID?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 others/include/config/setconfig.h |  6 +++---
 others/include/constants.h        |  2 +-
 others/src/additions.cpp          | 22 +++++++++++-----------
 others/src/options.cpp            |  4 ++--
 4 files changed, 17 insertions(+), 17 deletions(-)

diff --git a/others/include/config/setconfig.h b/others/include/config/setconfig.h
index ce24c39..2ff0a4b 100644
--- a/others/include/config/setconfig.h
+++ b/others/include/config/setconfig.h
@@ -50,13 +50,13 @@
     #define YAW_AIM_KI (0.01)
 #endif
 #ifndef PITCH_AIM_KD
-    #define PITCH_AIM_KD (0.4)
+    #define PITCH_AIM_KD (0)
 #endif
 #ifndef PITCH_AIM_KP
-    #define PITCH_AIM_KP (0.75)
+    #define PITCH_AIM_KP (0)
 #endif
 #ifndef PITCH_AIM_KI
-    #define PITCH_AIM_KI (0.01)
+    #define PITCH_AIM_KI (0)
 #endif
 
 #ifndef RED_COMPENSATE_YAW
diff --git a/others/include/constants.h b/others/include/constants.h
index 34290c9..4d2467f 100644
--- a/others/include/constants.h
+++ b/others/include/constants.h
@@ -19,6 +19,6 @@
 
 #define FOCUS_PIXAL_8MM  (1488)
 #define FOCUS_PIXAL_5MM  (917)
-#define FOCUS_PIXAL      FOCUS_PIXAL_5MM
+#define FOCUS_PIXAL      FOCUS_PIXAL_8MM
 
 #endif /* _CONSTANTS_H */
diff --git a/others/src/additions.cpp b/others/src/additions.cpp
index d0bb008..a46d58d 100644
--- a/others/src/additions.cpp
+++ b/others/src/additions.cpp
@@ -36,10 +36,10 @@ void uartReceive(Serial *pSerial) {
         pSerial->ReadData((uint8_t *) buffer, sizeof(mcu_data)+1);
         if (buffer[sizeof(mcu_data)] == '\n') {
             memcpy(&mcu_data, buffer, sizeof(mcu_data));
-//            LOGM("Get, state:%c, mark:%d!", mcu_data.state, (int) mcu_data.mark);
-//            LOGM("Get yaw: %f, pitch: %f!", mcu_data.curr_yaw, mcu_data.curr_pitch);
-//            LOGM("Get delta x: %d, delta y: %d!", mcu_data.delta_x, mcu_data.delta_y);
-//            static int t = time(nullptr);
+           LOGM("Get, state:%c, mark:%d!", mcu_data.state, (int) mcu_data.mark);
+           LOGM("Get yaw: %f, pitch: %f!", mcu_data.curr_yaw, mcu_data.curr_pitch);
+            LOGM("Get delta x: %d, delta y: %d!", mcu_data.delta_x, mcu_data.delta_y);
+ //           static int t = time(nullptr);
 //            static int cnt = 0;
 //            if(time(nullptr) > t){
 //                t = time(nullptr);
@@ -103,14 +103,14 @@ void extract(cv::Mat &src) {//图像预处理，将视频切成640×480的大小
     if (src.empty()) return;
     float length = static_cast<float>(src.cols);
     float width = static_cast<float>(src.rows);
-    if (length / width > 640.0 / 480.0) {
-        length *= 480.0 / width;
-        resize(src, src, cv::Size(length, 480));
-        src = src(Rect((length - 640) / 2, 0, 640, 480));
+    if (length / width > 1280.0 / 1024.0) {
+        length *= 1024 / width;
+        resize(src, src, cv::Size(length, 1024));
+        src = src(Rect((length - 1280) / 2, 0, 1280, 1024));
     } else {
-        width *= 640.0 / length;
-        resize(src, src, cv::Size(640, width));
-        src = src(Rect(0, (width - 480) / 2, 640, 480));
+        width *= 1280.0 / length;
+        resize(src, src, cv::Size(1280, width));
+        src = src(Rect(0, (width - 1024) / 2, 1280, 1024));
     }
 }
 
diff --git a/others/src/options.cpp b/others/src/options.cpp
index cde8ada..acb507d 100644
--- a/others/src/options.cpp
+++ b/others/src/options.cpp
@@ -14,12 +14,12 @@ bool show_light_blobs = false;
 bool show_origin = false;
 bool run_with_camera = true;
 bool save_video = false;
-bool wait_uart = false;
+bool wait_uart = true;
 bool save_labelled_boxes = false;
 bool show_process = false;
 bool show_energy = false;
 bool save_mark = false;
-bool show_info = false;
+bool show_info = true;
 bool run_by_frame = false;
 
 // 使用map保存所有选项及其描述和操作，加快查找速度。