VSAG/amadeus_26_fb
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fix bug.

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This commit is contained in:
xinyang
2019-07-24 22:56:59 +08:00
parent 1875ccd560
commit c794bd1b9d
5 changed files with 9 additions and 9 deletions
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2
energy/src/energy/judge/judge_shoot.cpp
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@@ -40,5 +40,5 @@ void Energy::judgeShootInGimbal() {
} else } else
shoot = 2; shoot = 2;
// cout << "yaw: " << yaw_rotation << '\t' << "pitch: " << pitch_rotation << endl; cout << "yaw: " << yaw_rotation << '\t' << "pitch: " << pitch_rotation << endl;
} }

2
energy/src/energy/send/send.cpp
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@@ -87,7 +87,7 @@ void Energy::sendTarget(Serial &serial, float x, float y, uint16_t z, uint16_t u
time_t t = time(nullptr); time_t t = time(nullptr);
if (last_time != t) { if (last_time != t) {
last_time = t; last_time = t;
cout << "fps:" << fps << ", (" << x << "," << y << "," << z << "," << u << ")" << endl; cout << "fps:" << fps << ", (" << x << "," << y << "," << z << ")" << endl;
fps = 0; fps = 0;
} }
fps += 1; fps += 1;

10
main.cpp
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@@ -97,7 +97,7 @@ int main(int argc, char *argv[]) {
if (mcuData.state == BIG_ENERGY_STATE) {//大能量机关模式 if (mcuData.state == BIG_ENERGY_STATE) {//大能量机关模式
if (last_state != BIG_ENERGY_STATE) {//若上一帧不是大能量机关模式，即刚往完成切换，则需要初始化 if (last_state != BIG_ENERGY_STATE) {//若上一帧不是大能量机关模式，即刚往完成切换，则需要初始化
destroyAllWindows(); destroyAllWindows();
if(from_camera){ if (from_camera) {
delete video_gimbal; delete video_gimbal;
video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 0/*, "armor"*/); video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 0/*, "armor"*/);
if (video_gimbal->init()) { if (video_gimbal->init()) {
@@ -120,13 +120,13 @@ int main(int argc, char *argv[]) {
if (!from_camera) extract(gimbal_src, chassis_src); if (!from_camera) extract(gimbal_src, chassis_src);
if (save_video) saveVideos(gimbal_src, chassis_src);//保存视频 if (save_video) saveVideos(gimbal_src, chassis_src);//保存视频
if (show_origin) showOrigin(gimbal_src, chassis_src);//显示原始图像 if (show_origin) showOrigin(gimbal_src, chassis_src);//显示原始图像
// energy.runBig(gimbal_src, chassis_src); energy.runBig(gimbal_src, chassis_src);
energy.runBig(gimbal_src); // energy.runBig(gimbal_src);
last_state = mcuData.state;//更新上一帧状态 last_state = mcuData.state;//更新上一帧状态
} else if (mcuData.state == SMALL_ENERGY_STATE) { } else if (mcuData.state == SMALL_ENERGY_STATE) {
if (mcuData.state != SMALL_ENERGY_STATE) { if (mcuData.state != SMALL_ENERGY_STATE) {
destroyAllWindows(); destroyAllWindows();
if(from_camera){ if (from_camera) {
delete video_gimbal; delete video_gimbal;
video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 0/*, "armor"*/); video_gimbal = new CameraWrapper(ENERGY_CAMERA_GAIN, 0/*, "armor"*/);
if (video_gimbal->init()) { if (video_gimbal->init()) {
@@ -149,7 +149,7 @@ int main(int argc, char *argv[]) {
} else { // 自瞄模式 } else { // 自瞄模式
if (last_state != ARMOR_STATE) { if (last_state != ARMOR_STATE) {
destroyAllWindows(); destroyAllWindows();
if(from_camera){ if (from_camera) {
delete video_gimbal; delete video_gimbal;
video_gimbal = new CameraWrapper(ARMOR_CAMERA_GAIN, 0/*, "armor"*/); video_gimbal = new CameraWrapper(ARMOR_CAMERA_GAIN, 0/*, "armor"*/);
if (video_gimbal->init()) { if (video_gimbal->init()) {

2
others/include/config/setconfig.h
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@@ -29,7 +29,7 @@
#define ARMOR_CAMERA_GAIN (30) #define ARMOR_CAMERA_GAIN (30)
#endif #endif
#ifndef ENERGY_CAMERA_GAIN #ifndef ENERGY_CAMERA_GAIN
#define ENERGY_CAMERA_GAIN (20) #define ENERGY_CAMERA_GAIN (30)
#endif #endif
#ifndef AIM_KP #ifndef AIM_KP
#define AIM_KP (6) #define AIM_KP (6)

2
others/src/additions/additions.cpp
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@@ -37,7 +37,7 @@ void uartReceive(Serial *pSerial) {
pSerial->ReadData((uint8_t *) buffer, sizeof(mcuData)+1); pSerial->ReadData((uint8_t *) buffer, sizeof(mcuData)+1);
if (buffer[sizeof(mcuData)] == '\n') { if (buffer[sizeof(mcuData)] == '\n') {
memcpy(&mcuData, buffer, sizeof(mcuData)); memcpy(&mcuData, buffer, sizeof(mcuData));
// LOGM("Get, state:%c, mark:%d!", mcuData.state, (int) mcuData.mark); LOGM("Get, state:%c, mark:%d!", mcuData.state, (int) mcuData.mark);
// LOGM("Get yaw: %f, pitch: %f!", mcuData.curr_yaw, mcuData.curr_pitch); // LOGM("Get yaw: %f, pitch: %f!", mcuData.curr_yaw, mcuData.curr_pitch);
// LOGM("Get delta x: %d, delta y: %d!", mcuData.delta_x, mcuData.delta_y); // LOGM("Get delta x: %d, delta y: %d!", mcuData.delta_x, mcuData.delta_y);
// static int t = time(nullptr); // static int t = time(nullptr);