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nitiantuhao
2026-04-12 11:57:14 +08:00
parent cedcd4738e
commit 9ffb750072
10 changed files with 521 additions and 107 deletions
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16
App/app_tasks.c
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@@ -440,6 +440,10 @@ void AppTasks_Init(void)
.w_max = PARAM_CTRL_W_MAX, /* 角速度限幅 */
.v_max = PARAM_CTRL_V_MAX, /* 线速度限幅 */
.speed_reduction_k = PARAM_CTRL_SPEED_REDUCTION, /* 调优：弯道减速系数 */
.exit_front_dist = PARAM_CTRL_EXIT_FRONT_DIST, /* 调优：出沟检测距离 */
.wall_escape_dist = PARAM_CTRL_WALL_ESCAPE_DIST,
.wall_escape_kp = PARAM_CTRL_WALL_ESCAPE_KP,
.wall_escape_w_max = PARAM_CTRL_WALL_ESCAPE_WMAX,
};
CorridorCtrl_Init(&ctrl_cfg);
@@ -470,13 +474,25 @@ void AppTasks_Init(void)
.reacquire_v = PARAM_GNAV_REACQUIRE_V,
.reacquire_conf_thresh = PARAM_GNAV_REACQUIRE_CONF,
.reacquire_width_tol = PARAM_GNAV_REACQUIRE_WIDTH_TOL,
.reacquire_min_odom = PARAM_GNAV_REACQUIRE_MIN_ODOM,
.reacquire_confirm_ticks = PARAM_GNAV_REACQUIRE_TICKS,
.reacquire_timeout_ms = PARAM_GNAV_REACQUIRE_TIMEOUT,
.align_kp_th = PARAM_GNAV_ALIGN_KP_TH,
.align_kp_y = PARAM_GNAV_ALIGN_KP_Y,
.align_th_tol_rad = PARAM_GNAV_ALIGN_TH_TOL,
.align_y_tol_m = PARAM_GNAV_ALIGN_Y_TOL,
.align_confirm_ticks = PARAM_GNAV_ALIGN_TICKS,
.align_timeout_ms = PARAM_GNAV_ALIGN_TIMEOUT,
.reacquire_min_back_dist = PARAM_GNAV_REACQUIRE_MIN_BACK,
.corridor_end_detect_dist = PARAM_GNAV_CORRIDOR_END_DIST,
.corridor_length_max = PARAM_GNAV_CORRIDOR_MAX_LEN,
.link_v = PARAM_GNAV_LINK_V,
.link_distance = PARAM_GNAV_LINK_DISTANCE,
.link_timeout_ms = PARAM_GNAV_LINK_TIMEOUT,
.link_gap_runout = PARAM_GNAV_LINK_GAP_RUNOUT,
.link_wall_target = PARAM_GNAV_LINK_WALL_TARGET,
.link_wall_kp = PARAM_GNAV_LINK_WALL_KP,
.link_wall_blend = PARAM_GNAV_LINK_WALL_BLEND,
.exit_v = PARAM_GNAV_EXIT_V,
.exit_runout = PARAM_GNAV_EXIT_RUNOUT,
.exit_max_dist = PARAM_GNAV_EXIT_MAX_DIST,