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再次修补

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This commit is contained in:
Luo Yufei
2026-03-21 17:39:35 +08:00
parent b00b3ec349
commit 93e794339f
3 changed files with 6 additions and 5 deletions
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4
armor/include/show_images/auto_trigger.h
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@@ -20,7 +20,7 @@ public:
* @param gimbal_pitch 当前云台实时自瞄角偏移 (Pitch, 度) * @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 * @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 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) // 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) // 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 // 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; return dist_to_center < threshold;
} }

5
armor/src/armor_finder/classifier/solver.cpp
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@@ -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 // 平衡不做yaw优化，因为pitch假设不成立
auto is_balance = (armor.type == ArmorType::big) && auto is_balance = (armor.type == ArmorType::big) &&
(armor.name == ArmorName::three || armor.name == ArmorName::four || (armor.name == ArmorName::B3 || armor.name == ArmorName::B4 ||
armor.name == ArmorName::five); armor.name == ArmorName::B5 || armor.name == ArmorName::R3 ||
armor.name == ArmorName::R4 || armor.name == ArmorName::R5);
if (is_balance) return; if (is_balance) return;
optimize_yaw(armor); optimize_yaw(armor);

2
armor/src/armor_finder/send_target/send_target.cpp
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@@ -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); 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) // 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); return sendTarget(serial, yaw, pitch_comp, dist * 100.0, shoot_delay);
} }