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nitiantuhao
2026-04-04 17:09:19 +08:00
parent ee63bee6e5
commit 1ecdf6c187
9 changed files with 201 additions and 320 deletions
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App/app_tasks.c
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@@ -485,7 +485,7 @@ void AppTasks_Init(void)
.turn_omega = PARAM_SCRIPT_TURN_OMEGA, /* 调优：转向角速度 */
.corridor_length = 3.0f, /* 备用：垄沟长度估计 */
.entry_align_timeout = PARAM_SCRIPT_ENTRY_TIMEOUT, /* 调优：入口对准超时 */
.d_entry_exit_front = 0.10f, /* 调优：出入口距离阈值 */
.d_entry_exit_front = 0.12f, /* 调优：出入口距离阈值 */
.entry_align_v = PARAM_SCRIPT_ENTRY_V, /* 调优：入口对准速度 */
.exit_runout_m = PARAM_SCRIPT_EXIT_RUNOUT, /* 调优：退出后冲出距离 */
.exit_v = PARAM_SCRIPT_EXIT_V, /* P1 修复：退出直线速度独立参数 */