对上交代码进行修改，主要将能量机关去掉，添加了同济的PnP位姿解算，但是同济有个四元数，获取IMU部分没有启用，可能导致精度不够。当前还存在反陀螺功能，修改为逻辑和弹道预测相结合，主要在时间关系上进行调整。

tools/monitor.bat

@@ -0,0 +1,53 @@
+@echo off 
+
+rem <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>س<EFBFBD><D8B3><EFBFBD><EFBFBD>Ľ<EFBFBD><C4BD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ͳ<EFBFBD><CDB3><EFBFBD>·<EFBFBD><C2B7><EFBFBD><EFBFBD><EFBFBD>ɸ<EFBFBD><C9B8><EFBFBD><EFBFBD><EFBFBD>Ҫ<EFBFBD><D2AA><EFBFBD><EFBFBD><EFBFBD>޸<EFBFBD>
+
+set AppName=run.exe
+
+set AppArgs= --run-with-camera --wait-uart --show-armor-box
+
+set AppPath=C:\Users\sjturm\Desktop\AutoAim\build\Release\
+
+title <20><><EFBFBD>̼<EFBFBD><CCBC><EFBFBD>
+
+cls
+
+echo.
+
+echo <20><><EFBFBD>̼<EFBFBD><CCBC>ؿ<EFBFBD>ʼ<EFBFBD><CABC><EFBFBD><EFBFBD>
+
+echo.
+
+rem <20><><EFBFBD><EFBFBD>ѭ<EFBFBD><D1AD><EFBFBD><EFBFBD>
+
+:startjc
+
+   rem <20>ӽ<EFBFBD><D3BD><EFBFBD><EFBFBD>б<EFBFBD><D0B1>в<EFBFBD><D0B2><EFBFBD>ָ<EFBFBD><D6B8><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+
+   rem  <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>Ҳ<EFBFBD><D2B2>д<EFBFBD><D0B4> qprocess %AppName% >nul <20><><EFBFBD><EFBFBD><EFBFBD>鷢<EFBFBD><E9B7A2><EFBFBD>󲹳䣩
+
+   qprocess|findstr /i %AppName% >nul
+
+   rem <20><><EFBFBD><EFBFBD>errorlevel<65><6C>ֵ<EFBFBD><D6B5><EFBFBD><EFBFBD>0<EFBFBD><30>ʾ<EFBFBD><CABE><EFBFBD>ҵ<EFBFBD><D2B5><EFBFBD><EFBFBD>̣<EFBFBD><CCA3><EFBFBD><EFBFBD><EFBFBD>û<EFBFBD>в<EFBFBD><D0B2>ҵ<EFBFBD><D2B5><EFBFBD><EFBFBD><EFBFBD>
+
+   if %errorlevel%==0 (
+
+         echo ^>%date:~0,10% %time:~0,8% <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>С<EFBFBD><D0A1><EFBFBD>
+
+    )else (
+
+           echo ^>%date:~0,10% %time:~0,8% û<>з<EFBFBD><D0B7>ֳ<EFBFBD><D6B3><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+
+           echo ^>%date:~0,10% %time:~0,8% <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>
+
+           start %AppPath%%AppName%%AppArgs% 2>nul && echo ^>%date:~0,10% %time:~0,8% <20><><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ɹ<EFBFBD>
+
+   )
+
+   rem <20><>ping<6E><67><EFBFBD><EFBFBD><EFBFBD><EFBFBD>ʵ<EFBFBD><CAB5><EFBFBD><EFBFBD>ʱ<EFBFBD><CAB1><EFBFBD><EFBFBD>
+
+   ping -n 2 -w 1000 1.1.1.1>nul
+   
+   goto startjc
+
+echo on