再次修补

armor/include/show_images/auto_trigger.h

@@ -20,7 +20,7 @@ public:
      * @param gimbal_pitch 当前云台实时自瞄角偏移 (Pitch, 度)
      * @return true 目标与预测弹着点重合，建议击发
      */
-    static bool should_fire(const ArmorFinder &armor_finder, double v0, double gimbal_yaw, double gimbal_pitch) {
+    static bool should_fire(const ArmorFinder &armor_finder, double v0, double gimbal_yaw, double gimbal_pitch, double threshold_deg = -1.0) {
         if (armor_finder.history.size() < 3) return false; // 轨迹点不足，不预测
 
         // 1. 获取目标当前的 3D 状态 (相对于相机)
@@ -52,7 +52,7 @@ public:
         
         // 7. 动态阈值判定 (依据目标距离和装甲板大小)
         // 距离越远，允许的像素误差越小
-        double threshold = 200.0 / (dist + 0.001); // 示例阈值：5米处允许40像素误差
+        double threshold = (threshold_deg > 0) ? (threshold_deg * FOCUS_PIXAL * PI / 180.0 / 100.0) : (200.0 / (dist + 0.001)); 
         
         return dist_to_center < threshold;
     }