再次修补

armor/src/armor_finder/classifier/solver.cpp

@@ -139,8 +139,9 @@ void Solver::solve(Armor & armor) const
 
   // 平衡不做yaw优化，因为pitch假设不成立
   auto is_balance = (armor.type == ArmorType::big) &&
-                    (armor.name == ArmorName::three || armor.name == ArmorName::four ||
-                     armor.name == ArmorName::five);
+                    (armor.name == ArmorName::B3 || armor.name == ArmorName::B4 ||
+                     armor.name == ArmorName::B5 || armor.name == ArmorName::R3 ||
+                     armor.name == ArmorName::R4 || armor.name == ArmorName::R5);
   if (is_balance) return;
 
   optimize_yaw(armor);

armor/src/armor_finder/send_target/send_target.cpp

@@ -81,7 +81,7 @@ bool ArmorFinder::sendBoxPosition(uint16_t shoot_delay) {
     double pitch_comp = BallisticSolver::get_pitch(x_target, y_target, MUZZLE_VELOCITY, BALLISTIC_K);
 
     // 计算是否满足开火条件 (例如残差小于 1.5 度)
-    can_fire = AutoTrigger::should_fire(yaw, pitch_comp, 1.5);
+    can_fire = AutoTrigger::should_fire(*this, MUZZLE_VELOCITY, yaw, pitch_comp, 1.5);
 
     return sendTarget(serial, yaw, pitch_comp, dist * 100.0, shoot_delay);
 }