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nitiantuhao
2026-04-04 23:24:36 +08:00
parent 5e0901a4d9
commit 7c2396a282
11 changed files with 132 additions and 57 deletions
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App/app_tasks.c
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@@ -420,7 +420,9 @@ void AppTasks_Init(void)
.sensor_base_length = PARAM_SENSOR_BASE_LENGTH, /* 实测：同侧前后雷达间距 */
.corridor_width = PARAM_CORRIDOR_WIDTH, /* 实测：走廊宽度 */
.y_offset = 0.0f, /* 0 = 绝对居中 */
.side_sensor_inset = PARAM_VL53_SIDE_INSET, /* 实测：侧向传感器内缩距离 */
.side_sensor_inset = PARAM_VL53_SIDE_INSET, /* [兼容] 统一内缩距离 */
.left_sensor_inset = PARAM_VL53_LEFT_INSET, /* [改进A] 左侧独立内缩 (实测后填入!) */
.right_sensor_inset = PARAM_VL53_RIGHT_INSET, /* [改进A] 右侧独立内缩 (实测后填入!) */
.robot_width = PARAM_ROBOT_WIDTH, /* 实测：车体宽度 */
.alpha_theta = 0.98f, /* 保留兼容，EKF 内部使用 Q/R */
.alpha_y = 0.7f,