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修复bug

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This commit is contained in:
Liu Lida
2026-03-24 05:19:06 +08:00
parent 9763f266a5
commit 09a85d9156
2 changed files with 3 additions and 1 deletions
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2
armor/src/armor_finder/anti_top/anti_top.cpp
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@@ -106,6 +106,8 @@ void ArmorFinder::antiTop(double dist_m, double pitch_imu_deg) {
// 5. Check if it's time to fire // 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 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 // 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 // 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 double T_face = abs((PI / 2.0) / auto_omega); // 陀螺转过一个面的理论耗时

2
others/include/config/setconfig.h
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@@ -90,7 +90,7 @@
#endif #endif
#ifndef SYSTEM_DELAY #ifndef SYSTEM_DELAY
#define SYSTEM_DELAY (50.0) #define SYSTEM_DELAY (150.0)
#endif #endif
// 到此为止 // 到此为止