修复bug

2026-03-24 05:19:06 +08:00
parent 9763f266a5
commit 09a85d9156
2 changed files with 3 additions and 1 deletions
--- a/armor/src/armor_finder/anti_top/anti_top.cpp
+++ b/armor/src/armor_finder/anti_top/anti_top.cpp
@@ -106,6 +106,8 @@ void ArmorFinder::antiTop(double dist_m, double pitch_imu_deg) {

    // 5. Check if it's time to fire
    double fly_time_s = BallisticSolver::get_flight_time(dist_m, pitch_imu_deg, MUZZLE_VELOCITY, BALLISTIC_K);
+    double total_delay_s = fly_time_s + SYSTEM_DELAY / 1000.0;
+
    // 核心优化：O(1) 绝对相位耦合算法
    // 原理：子弹必须在装甲板精确到达 Yaw 中心的那一刻撞击
    double T_face = abs((PI / 2.0) / auto_omega); // 陀螺转过一个面的理论耗时
--- a/others/include/config/setconfig.h
+++ b/others/include/config/setconfig.h
@@ -90,7 +90,7 @@
 #endif

 #ifndef SYSTEM_DELAY
-    #define SYSTEM_DELAY (50.0)
+    #define SYSTEM_DELAY (150.0)
 #endif

 // 到此为止