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This commit is contained in:
nitiantuhao
2026-04-12 14:11:03 +08:00
parent 37a1788543
commit 521b70c29b
4 changed files with 11 additions and 115 deletions
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7
App/robot_params.h
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@@ -453,7 +453,7 @@ extern "C" {
* 1: 使用滤波后的 range_mm_filtered
* 0: 直接输出原始测距到 range_mm_filtered，便于做 A/B 对比
*/
#define PARAM_VL53_USE_EMA_FILTER 1
#define PARAM_VL53_USE_EMA_FILTER 0
/** @brief [调优] VL53L0X EMA滤波平滑系数 alpha
* 含义：新测量值的权重 (0.0~1.0)
@@ -489,10 +489,9 @@ extern "C" {
#define PARAM_NAV_STARTUP_DELAY_MS 5000U
/** @brief 导航主循环周期 [ms]
* 包含：预处理 -> EKF -> GlobalNav -> CorridorCtrl -> Safety
* 从 20ms 提高到 10ms，用更高闭环频率提升预测与回中响应。
* 保留为参数形式，当前使用 20ms，与 411 稳定版本一致。
*/
#define PARAM_NAV_TASK_PERIOD_MS 10U
#define PARAM_NAV_TASK_PERIOD_MS 20U
/* --- 入场段 --- */
/* 启动区入口(Y=40)距第一条垄沟(Y=36~39)极近，入场距离仅约 10~40cm */