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nitiantuhao
2026-04-11 14:18:53 +08:00
parent eb1f14e428
commit cedcd4738e
2 changed files with 6 additions and 6 deletions
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App/robot_params.h
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@@ -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 10 /* 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 --- */
@@ -455,7 +455,7 @@ 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 0.70f /* m — 连接段标称距离 (沟间距) */
#define PARAM_GNAV_LINK_DISTANCE 0.75f /* m — 连接段标称距离 (沟间距) */
#define PARAM_GNAV_LINK_TIMEOUT 8000U /* ms — 连接段超时 */
/* --- 出场 --- */