From a7c2c3386afb2072c93604c35379e2730af882dc Mon Sep 17 00:00:00 2001
From: nitiantuhao <2062405236@qq.com>
Date: Sat, 11 Apr 2026 13:08:54 +0800
Subject: [PATCH] 1.0

---
 App/VL53L1X_API/platform/vl53_calibration_config.h | 8 ++++----
 App/robot_params.h                                 | 4 ++--
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/App/VL53L1X_API/platform/vl53_calibration_config.h b/App/VL53L1X_API/platform/vl53_calibration_config.h
index d28f3e1..44bf10a 100644
--- a/App/VL53L1X_API/platform/vl53_calibration_config.h
+++ b/App/VL53L1X_API/platform/vl53_calibration_config.h
@@ -18,7 +18,7 @@ typedef struct {
  */
 static const Vl53L1RuntimeCalibration_t k_vl53l1_left_calibration[2] = {
     {
-        .calibrated = 1u,
+        .calibrated = 0u,
         .data = {
             .struct_version = 3970629922u,
             .customer = {
@@ -67,7 +67,7 @@ static const Vl53L1RuntimeCalibration_t k_vl53l1_left_calibration[2] = {
         }
     },
     {
-        .calibrated = 1u,
+        .calibrated = 0u,
         .data = {
             .struct_version = 3970629922u,
             .customer = {
@@ -119,7 +119,7 @@ static const Vl53L1RuntimeCalibration_t k_vl53l1_left_calibration[2] = {
 
 static const Vl53L1RuntimeCalibration_t k_vl53l1_right_calibration[2] = {
     {
-        .calibrated = 1u,
+        .calibrated = 0u,
         .data = {
             .struct_version = 3970629922u,
             .customer = {
@@ -168,7 +168,7 @@ static const Vl53L1RuntimeCalibration_t k_vl53l1_right_calibration[2] = {
         }
     },
     {
-        .calibrated = 1u,
+        .calibrated = 0u,
         .data = {
             .struct_version = 3970629922u,
             .customer = {
diff --git a/App/robot_params.h b/App/robot_params.h
index bc6b7f9..2a8a16a 100644
--- a/App/robot_params.h
+++ b/App/robot_params.h
@@ -128,7 +128,7 @@ extern "C" {
  *  1 = VL53L1X
  */
 #ifndef PARAM_VL53_USE_L1X
-#define PARAM_VL53_USE_L1X          0
+#define PARAM_VL53_USE_L1X          1
 #endif
 
 /* =========================================================
@@ -445,7 +445,7 @@ extern "C" {
 #define PARAM_GNAV_REACQUIRE_V        0.1f   /* m/s   — 重捕获入沟速度 */
 #define PARAM_GNAV_REACQUIRE_CONF     0.6f    /*        — 重捕获置信度阈值 */
 #define PARAM_GNAV_REACQUIRE_WIDTH_TOL 0.05f  /* m     — 走廊宽度容差 */
-#define PARAM_GNAV_REACQUIRE_TICKS    5       /* 拍    — 连续确认次数 (5×20ms=100ms) */
+#define PARAM_GNAV_REACQUIRE_TICKS    10       /* 拍    — 连续确认次数 (5×20ms=100ms) */
 #define PARAM_GNAV_REACQUIRE_TIMEOUT  5000U   /* ms    — 重捕获超时 */
 
 /* --- 沟内 --- */