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nitiantuhao
2026-04-12 14:30:19 +08:00
parent 521b70c29b
commit 315495bab3
2 changed files with 14 additions and 6 deletions
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App/robot_params.h
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@@ -530,9 +530,9 @@ extern "C" {
/* --- 连接段 --- */
/* 在纵向端部通道里北行，从一条垄沟入口到下一条入口，距离=垄沟宽40cm+垄背宽30cm=70cm */
#define PARAM_GNAV_LINK_V 0.10f /* m/s — 连接段速度 (纵向通道内，IMU航向保持) */
#define PARAM_GNAV_LINK_DISTANCE 0.90f /* m — 连接段标称距离 (沟间距) */
#define PARAM_GNAV_LINK_DISTANCE 0.70f /* m — 连接段标称距离 (沟间距中心到中心) */
#define PARAM_GNAV_LINK_TIMEOUT 8000U /* ms — 连接段超时 */
#define PARAM_GNAV_LINK_GAP_RUNOUT 0.06f /* m — 看到下一个沟口后继续前冲距离 */
#define PARAM_GNAV_LINK_GAP_RUNOUT 0.08f /* m — 看到下一个沟口后继续前冲距离 */
#define PARAM_GNAV_LINK_WALL_TARGET 0.10f /* m — 连接段最小离墙距离（小于10cm才触发保底修正） */
#define PARAM_GNAV_LINK_WALL_KP 3.0f /* — 连接段离墙保底增益 */
#define PARAM_GNAV_LINK_WALL_BLEND 0.5f /* — 预留给其他通道状态，连接段本身不再使用融合 */