From 2b272a3bd350fa967f2def624585a932cd05ebf2 Mon Sep 17 00:00:00 2001
From: Li Da <3199335945@qq.com>
Date: Tue, 24 Mar 2026 09:38:50 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BF=AE=E6=94=B9=EF=BC=8CPID=E5=8F=91?=
 =?UTF-8?q?=E7=8E=B0=E5=B9=B6=E6=9C=AA=E4=BC=98=E5=8C=96?=
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---
 armor/src/armor_finder/send_target/send_target.cpp | 11 ++++++-----
 others/src/serial.cpp                              |  2 +-
 2 files changed, 7 insertions(+), 6 deletions(-)

diff --git a/armor/src/armor_finder/send_target/send_target.cpp b/armor/src/armor_finder/send_target/send_target.cpp
index f0b8e6f..30de334 100644
--- a/armor/src/armor_finder/send_target/send_target.cpp
+++ b/armor/src/armor_finder/send_target/send_target.cpp
@@ -57,17 +57,18 @@ bool ArmorFinder::sendBoxPosition(uint16_t shoot_delay) {
     auto rect = target_box.rect;
     double dx = rect.x + rect.width / 2 - IMAGE_CENTER_X;
     double dy = rect.y + rect.height / 2 - IMAGE_CENTER_Y;
+    double yaw = atan(dx / FOCUS_PIXAL) * 180 / PI;
 
     // PID
-    sum_yaw += dx;
+    sum_yaw += yaw;
     sum_pitch += dy;
     float yaw_I_component = YAW_AIM_KI * sum_yaw;
     float pitch_I_component = PITCH_AIM_KI * sum_pitch;
 
-    double tmp_yaw = dx;
+    double tmp_yaw = yaw;
     double tmp_pitch = dy;
-    dx = YAW_AIM_KP * dx + YAW_AIM_KI * sum_yaw +
-                   YAW_AIM_KD * (dx - last_yaw);
+    yaw = YAW_AIM_KP * yaw + YAW_AIM_KI * sum_yaw +
+                   YAW_AIM_KD * (yaw - last_yaw);
     dy = PITCH_AIM_KP * dy + PITCH_AIM_KI * sum_pitch +
                      PITCH_AIM_KD * (dy - last_pitch);
 
@@ -75,7 +76,7 @@ bool ArmorFinder::sendBoxPosition(uint16_t shoot_delay) {
     last_pitch = tmp_pitch;
     //
 
-    double yaw = atan(dx / FOCUS_PIXAL) * 180 / PI;
+    // double yaw = atan(dx / FOCUS_PIXAL) * 180 / PI;
     double dist = sqrt(target_xyz.x * target_xyz.x + target_xyz.y * target_xyz.y + target_xyz.z * target_xyz.z) / 100.0; // 米
     
     // 弹道补偿使用 PnP 提供的 3D 坐标
diff --git a/others/src/serial.cpp b/others/src/serial.cpp
index d2b599f..6abfc75 100644
--- a/others/src/serial.cpp
+++ b/others/src/serial.cpp
@@ -181,7 +181,7 @@ bool Serial::ReadData(unsigned char *buffer,  unsigned int length) {
 using namespace std;
 
 string get_uart_dev_name() {
-    FILE *ls = popen("ls /dev/ttyCH341USB* --color=never", "r");
+    FILE *ls = popen("ls /dev/ttyUSB* --color=never", "r");
     char name[20] = {0};
     fscanf(ls, "%s", name);
     return name;