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nitiantuhao
2026-04-04 21:19:41 +08:00
parent 1ecdf6c187
commit e18a7c949c
5 changed files with 98 additions and 18 deletions
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App/robot_params.h
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@@ -346,10 +346,10 @@ extern "C" {
/** @brief [实测] VL53L0X 测距预算 [μs]
* 含义：单次测距的时间预算，越大精度越高但频率越低
* 选项：20000(20ms, 高速), 33000(33ms), 100000(100ms), 200000(200ms, 高精度)
* 典型值：100000 (100ms，折中)
* 调优：走廊跟踪时用 100ms，原地转向时可切 200ms 提高精度
* 典型值：33000 (33ms，折中)
* 调优：本车实测稳定上限按 33ms 配置，若噪声偏大再逐步提高
*/
#define PARAM_VL53_TIMING_BUDGET 100000U
#define PARAM_VL53_TIMING_BUDGET 33000U
/** @brief [调优] VL53L0X 卡尔曼滤波参数 Q
* 含义：测距过程噪声