From 9763f266a5c4c4024578880e749ca56360a0184f Mon Sep 17 00:00:00 2001
From: Li Da <3199335945@qq.com>
Date: Tue, 24 Mar 2026 04:38:17 +0800
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---
 armor/src/armor_finder/anti_top/anti_top.cpp | 23 ++++++++++++++++----
 1 file changed, 19 insertions(+), 4 deletions(-)

diff --git a/armor/src/armor_finder/anti_top/anti_top.cpp b/armor/src/armor_finder/anti_top/anti_top.cpp
index 80115b1..83533ac 100644
--- a/armor/src/armor_finder/anti_top/anti_top.cpp
+++ b/armor/src/armor_finder/anti_top/anti_top.cpp
@@ -106,11 +106,26 @@ void ArmorFinder::antiTop(double dist_m, double pitch_imu_deg) {
 
     // 5. Check if it's time to fire
     double fly_time_s = BallisticSolver::get_flight_time(dist_m, pitch_imu_deg, MUZZLE_VELOCITY, BALLISTIC_K);
-    double total_delay_s = fly_time_s + SYSTEM_DELAY / 1000.0;
+    // 核心优化：O(1) 绝对相位耦合算法
+    // 原理：子弹必须在装甲板精确到达 Yaw 中心的那一刻撞击
+    double T_face = abs((PI / 2.0) / auto_omega); // 陀螺转过一个面的理论耗时
     
-    double wait_time_s = min_t_hit - total_delay_s;
-    if (wait_time_s < 0) {
-        wait_time_s += abs((PI / 2.0) / auto_omega); // Look at the next plate
+    // 如果我们现在立刻开火，子弹到达的时间点超越了下一块板的到来时间，
+    // 意味着我们必然“脱靶”（子弹飞在半空时，最近的板子已经溜过去了）。
+    // 在这个差值 time_shortfall 内，我们究竟错过了几块板子？
+    double time_shortfall = total_delay_s - min_t_hit; 
+    
+    double wait_time_s = 0.0;
+    if (time_shortfall <= 0) {
+        // 第一块板子的时间还没到，完全赶得及！我们只需要原地等差值补齐就行。
+        wait_time_s = -time_shortfall; 
+    } else {
+        // 延迟太高，必定完美错过前面的板子。
+        // 通过 ceil（向上取整）推导出“子弹飞到时，我们至少要迎击第 n 块板”：
+        int n_plates_missed = ceil(time_shortfall / T_face);
+        
+        // 我们真实需要等待的时机 = 命中第 n 块板的绝对时间 - 子弹与系统的总延迟
+        wait_time_s = (min_t_hit + n_plates_missed * T_face) - total_delay_s;
     }
 
     bool fire = false;