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This commit is contained in:
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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8
App/VL53L1X_API/platform/vl53_calibration_config.h
View File

@@ -18,7 +18,7 @@ typedef struct {
*/ */
static const Vl53L1RuntimeCalibration_t k_vl53l1_left_calibration[2] = { static const Vl53L1RuntimeCalibration_t k_vl53l1_left_calibration[2] = {
{ {
.calibrated = 1u, .calibrated = 0u,
.data = { .data = {
.struct_version = 3970629922u, .struct_version = 3970629922u,
.customer = { .customer = {
@@ -67,7 +67,7 @@ static const Vl53L1RuntimeCalibration_t k_vl53l1_left_calibration[2] = {
} }
}, },
{ {
.calibrated = 1u, .calibrated = 0u,
.data = { .data = {
.struct_version = 3970629922u, .struct_version = 3970629922u,
.customer = { .customer = {
@@ -119,7 +119,7 @@ static const Vl53L1RuntimeCalibration_t k_vl53l1_left_calibration[2] = {
static const Vl53L1RuntimeCalibration_t k_vl53l1_right_calibration[2] = { static const Vl53L1RuntimeCalibration_t k_vl53l1_right_calibration[2] = {
{ {
.calibrated = 1u, .calibrated = 0u,
.data = { .data = {
.struct_version = 3970629922u, .struct_version = 3970629922u,
.customer = { .customer = {
@@ -168,7 +168,7 @@ static const Vl53L1RuntimeCalibration_t k_vl53l1_right_calibration[2] = {
} }
}, },
{ {
.calibrated = 1u, .calibrated = 0u,
.data = { .data = {
.struct_version = 3970629922u, .struct_version = 3970629922u,
.customer = { .customer = {

4
App/robot_params.h
View File

@@ -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_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_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_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 */ #define PARAM_GNAV_REACQUIRE_TIMEOUT 5000U /* ms — 重捕获超时 */
/* --- 沟内 --- */ /* --- 沟内 --- */
@@ -455,7 +455,7 @@ extern "C" {
/* --- 连接段 --- */ /* --- 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 */ /* 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_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 */ #define PARAM_GNAV_LINK_TIMEOUT 8000U /* ms — 连接段超时 */
/* --- 出场 --- */ /* --- 出场 --- */