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;
     }

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);
 }