完整ref

MDK-ARM/DevC.uvoptx

@@ -324,6 +324,11 @@
         <pMon>BIN\CMSIS_AGDI.dll</pMon>
       </DebugOpt>
       <TargetDriverDllRegistry>
+        <SetRegEntry>
+          <Number>0</Number>
+          <Key>ST-LINKIII-KEIL_SWO</Key>
+          <Name>-U-O206 -O206 -SF10000 -C0 -A0 -I0 -HNlocalhost -HP7184 -P1 -N00("ARM CoreSight SW-DP (ARM Core") -D00(2BA01477) -L00(0) -TO131090 -TC10000000 -TT10000000 -TP21 -TDS8007 -TDT0 -TDC1F -TIEFFFFFFFF -TIP8 -FO15 -FD20000000 -FC1000 -FN1 -FF0STM32F4xx_1024.FLM -FS08000000 -FL0100000 -FP0($$Device:STM32F407IGHx$CMSIS\Flash\STM32F4xx_1024.FLM)</Name>
+        </SetRegEntry>
         <SetRegEntry>
           <Number>0</Number>
           <Key>ARMRTXEVENTFLAGS</Key>
@@ -360,7 +365,7 @@
         <Ww>
           <count>0</count>
           <WinNumber>1</WinNumber>
-          <ItemText>chassis</ItemText>
+          <ItemText>param_default</ItemText>
         </Ww>
         <Ww>
           <count>1</count>
@@ -370,57 +375,42 @@
         <Ww>
           <count>2</count>
           <WinNumber>1</WinNumber>
-          <ItemText>gimbal_out</ItemText>
+          <ItemText>shoot</ItemText>
         </Ww>
         <Ww>
           <count>3</count>
           <WinNumber>1</WinNumber>
-          <ItemText>for_chassis</ItemText>
+          <ItemText>param_hero</ItemText>
         </Ww>
         <Ww>
           <count>4</count>
           <WinNumber>1</WinNumber>
-          <ItemText>task_runtime</ItemText>
+          <ItemText>ref</ItemText>
         </Ww>
         <Ww>
           <count>5</count>
           <WinNumber>1</WinNumber>
-          <ItemText>ref</ItemText>
+          <ItemText>for_chassis</ItemText>
         </Ww>
         <Ww>
           <count>6</count>
           <WinNumber>1</WinNumber>
-          <ItemText>shoot</ItemText>
+          <ItemText>cap_out,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>7</count>
           <WinNumber>1</WinNumber>
-          <ItemText>ai</ItemText>
+          <ItemText>pm01_od,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>8</count>
           <WinNumber>1</WinNumber>
-          <ItemText>for_chassis</ItemText>
+          <ItemText>cap,0x0A</ItemText>
         </Ww>
         <Ww>
           <count>9</count>
           <WinNumber>1</WinNumber>
-          <ItemText>for_shoot</ItemText>
-        </Ww>
-        <Ww>
-          <count>10</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>cmd</ItemText>
-        </Ww>
-        <Ww>
-          <count>11</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>host</ItemText>
-        </Ww>
-        <Ww>
-          <count>12</count>
-          <WinNumber>1</WinNumber>
-          <ItemText>gimbal_ai</ItemText>
+          <ItemText>ref</ItemText>
         </Ww>
       </WatchWindow1>
       <MemoryWindow4>
@@ -1293,7 +1283,7 @@
 
   <Group>
     <GroupName>User/bsp</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1517,7 +1507,7 @@
 
   <Group>
     <GroupName>User/component</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>

MDK-ARM/DevC.uvprojx

@@ -2044,7 +2044,7 @@
             <uC99>0</uC99>
             <uGnu>0</uGnu>
             <useXO>0</useXO>
-            <v6Lang>5</v6Lang>
+            <v6Lang>6</v6Lang>
             <v6LangP>3</v6LangP>
             <vShortEn>1</vShortEn>
             <vShortWch>1</vShortWch>

MDK-ARM/DevC/DevC.build_log.htm

@@ -22,7 +22,7 @@ Dialog DLL:      TCM.DLL V1.48.0.0
  
 <h2>Project:</h2>
 C:\Users\lvzucheng\Documents\RMUL2025\MDK-ARM\DevC.uvprojx
-Project File Date:  03/19/2025
+Project File Date:  03/18/2025
 
 <h2>Output:</h2>
 *** Using Compiler 'V6.16', folder: 'C:\Keil_v5\ARM\ARMCLANG\Bin'
@@ -37,13 +37,32 @@ Note: source file '..\User\task\ai.c' - object file renamed from 'DevC\ai.o' to
 Note: source file '..\User\task\can.c' - object file renamed from 'DevC\can.o' to 'DevC\can_3.o'.
 Note: source file '..\User\task\cap.c' - object file renamed from 'DevC\cap.o' to 'DevC\cap_1.o'.
 Note: source file '..\User\task\referee.c' - object file renamed from 'DevC\referee.o' to 'DevC\referee_1.o'.
-compiling user_math.c...
-compiling main.c...
+compiling can.c...
+compiling freertos.c...
+compiling referee.c...
 compiling ai.c...
+compiling cap.c...
+compiling chassis.c...
 compiling config.c...
+compiling gimbal.c...
 compiling shoot.c...
+compiling ai.c...
+compiling atti_esti.c...
+compiling can.c...
+compiling cap.c...
+compiling cli.c...
+compiling command.c...
+compiling ctrl_chassis.c...
+compiling ctrl_gimbal.c...
+compiling ctrl_shoot.c...
+compiling info.c...
+compiling init.c...
+compiling rc.c...
+compiling monitor.c...
+compiling referee.c...
+compiling user_task.c...
 linking...
-Program Size: Code=149600 RO-data=6928 RW-data=1104 ZI-data=43832  
+Program Size: Code=149000 RO-data=6908 RW-data=760 ZI-data=44208  
 FromELF: creating hex file...
 "DevC\DevC.axf" - 0 Error(s), 0 Warning(s).
 
@@ -59,7 +78,7 @@ Package Vendor: Keil
   C:\Users\lvzucheng\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\2.15.0\Drivers\CMSIS\Device\ST\STM32F4xx\Include
 
 <h2>Collection of Component Files used:</h2>
-Build Time Elapsed:  00:00:03
+Build Time Elapsed:  00:00:06
 </pre>
 </body>
 </html>

Middlewares/Third_Party/Protocol/protocol.h

@@ -15,7 +15,7 @@ extern "C"
 #define AI_NOTICE_HITBUFF (1 << 1)
 #define AI_NOTICE_AUTOMATIC (1 << 2)
 #define AI_NOTICE_FIRE (1 << 3)
-#define AI_NOTICE_SEARCH_ARMOR (1 << 4)
+#define AI_NOTICE_ROTOR (1 << 7)
 
 #define AI_ID_MCU (0xC4)
 #define AI_ID_REF (0xA8)
@@ -47,8 +47,9 @@ extern "C"
   /* 电控 -> 视觉 裁判系统数据结构体*/
   typedef struct __attribute__((packed))
   {
-    uint16_t team; /* 本身队伍 */
-    uint16_t time; /* 比赛开始时间 */
+    uint16_t remain_hp;
+    uint8_t game_progress : 4;
+    uint16_t stage_remain_time;
   } Protocol_UpDataReferee_t;
 
   /* 视觉 -> 电控 数据结构体*/

User/component/cmd.c

@@ -236,14 +236,14 @@ static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec)
 
   case CMD_SW_MID:
     cmd->chassis.mode = CHASSIS_MODE_FOLLOW_GIMBAL;
-    cmd->ai_status = AI_STATUS_AUTOAIM;
-    cmd->host_overwrite = true;
+    cmd->ai_status = AI_STATUS_STOP;
+    cmd->host_overwrite = false;
     break;
 
   case CMD_SW_DOWN:
-    cmd->chassis.mode = CHASSIS_MODE_ROTOR;
+    // cmd->chassis.mode = CHASSIS_MODE_ROTOR;
     cmd->chassis.mode_rotor = ROTOR_MODE_CW;
-    cmd->ai_status = AI_STATUS_AUTOAIM;
+    cmd->ai_status = AI_STATUS_NAVIGATION;
     cmd->host_overwrite = true;
     break;
 
@@ -259,14 +259,12 @@ static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec)
   case CMD_SW_UP:
     cmd->gimbal.mode = GIMBAL_MODE_ABSOLUTE;
     cmd->shoot.mode = SHOOT_MODE_SAFE;
-    cmd->fire = false;
     break;
 
   case CMD_SW_MID:
     cmd->gimbal.mode = GIMBAL_MODE_ABSOLUTE;
     cmd->shoot.fire = false;
     cmd->shoot.mode = SHOOT_MODE_LOADED;
-    cmd->fire = true;
     break;
 
   case CMD_SW_DOWN:
@@ -274,13 +272,11 @@ static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec)
     cmd->shoot.mode = SHOOT_MODE_LOADED;
     cmd->shoot.fire_mode = FIRE_MODE_SINGLE;
     cmd->shoot.fire = true;
-    cmd->fire = true;
     break;
 
   case CMD_SW_ERR:
     cmd->gimbal.mode = GIMBAL_MODE_RELAX;
     cmd->shoot.mode = SHOOT_MODE_RELAX;
-    cmd->fire = false;
   }
   /* 将操纵杆的对应值转换为底盘的控制向量和云台变化的欧拉角 */
   if (cmd->ai_status == AI_STATUS_STOP || cmd->host_overwrite == false)
@@ -400,18 +396,26 @@ int8_t CMD_ParseHost(const CMD_Host_t *host, CMD_t *cmd, float dt_sec)
   cmd->gimbal.delta_eulr.yaw = host->gimbal_delta.yaw;
   cmd->gimbal.delta_eulr.pit = host->gimbal_delta.pit;
 
+  /* 底盘控制向量设置为host相应的控制向量 */
+  cmd->chassis.ctrl_vec.vx = host->chassis_move_vec.vx;
+  cmd->chassis.ctrl_vec.vy = host->chassis_move_vec.vy;
+  cmd->chassis.ctrl_vec.wz = host->chassis_move_vec.wz;
+
+  /*底盘运动模式*/
+  if (host->rotor){
+    cmd->chassis.mode = CHASSIS_MODE_ROTOR;
+  } else {
+    cmd->chassis.mode = CHASSIS_MODE_FOLLOW_GIMBAL;
+  }
   /* host射击命令，设置不同的射击频率和弹丸初速度 */
-  if(cmd->fire){
-    if (host->fire)
-    {
-      cmd->shoot.mode = SHOOT_MODE_LOADED;
-      cmd->shoot.fire = true;
-    }
-    else
-    {
-      // cmd->shoot.mode = SHOOT_MODE_SAFE;
-      cmd->shoot.mode = SHOOT_MODE_LOADED;
-    }
+  if (host->fire)
+  {
+    cmd->shoot.mode = SHOOT_MODE_LOADED;
+    cmd->shoot.fire = true;
+  }
+  else
+  {
+    cmd->shoot.mode = SHOOT_MODE_SAFE;
   }
   return 0;
 }

User/component/cmd.h

@@ -19,9 +19,9 @@ extern "C" {
 typedef enum {
   ROBOT_MODEL_INFANTRY = 0, /* 步兵机器人 */
   ROBOT_MODEL_HERO,         /* 英雄机器人 */
+  ROBOT_MODEL_SENTRY,       /* 哨兵机器人 */ 
   ROBOT_MODEL_ENGINEER,     /* 工程机器人 */
   ROBOT_MODEL_DRONE,        /* 空中机器人 */
-  ROBOT_MODEL_SENTRY,       /* 哨兵机器人 */
   ROBOT_MODEL_NUM,          /* 型号数量 */
 } CMD_RobotModel_t;
 
@@ -178,7 +178,8 @@ typedef enum {
   AI_STATUS_STOP,      /* 停止状态 */
   AI_STATUS_AUTOAIM,   /* 自瞄状态 */
   AI_STATUS_HITSWITCH, /* 打符状态 */
-  AI_STATUS_AUTOMATIC  /* 自动状态 */
+  AI_STATUS_AUTOMATIC,  /* 自动状态 */
+  AI_STATUS_NAVIGATION  /* 导航状态 */
 } CMD_AI_Status_t;
 
 /* UI所用行为状态 */
@@ -199,7 +200,6 @@ typedef struct {
 typedef struct {
   bool pc_ctrl;        /* 是否使用键鼠控制 */
   bool host_overwrite; /* 是否Host控制 */
-  bool fire;      /* 是否允许发弹 */ 
   uint16_t key_last;   /* 上次按键键值 */
 
   struct {
@@ -254,7 +254,7 @@ typedef struct {
   } chassis_move_vec; /* 底盘移动向量 */
 
   bool fire; /* 开火状态 */
-  // bool search_armor; /* 寻找装甲板模式 */
+  bool rotor; /* 小陀螺状态 */
 } CMD_Host_t;
 
 /**

User/component/user_math.c

@@ -27,10 +27,6 @@ inline float AbsClip(float in, float limit) {
   return (in < -limit) ? -limit : ((in > limit) ? limit : in);
 }
 
-float fAbs(float in){
-  return (in > 0) ? in : -in;
-}
-
 inline void Clip(float *origin, float min, float max) {
   if (*origin > max) *origin = max;
   if (*origin < min) *origin = min;
@@ -107,7 +103,6 @@ inline float CalculateRpm(float bullet_speed, float fric_radius, bool is17mm) {
   if (is17mm) {
     if (bullet_speed == 15.0f) return 4670.f;
     if (bullet_speed == 18.0f) return 5200.f;
-    if (bullet_speed == 25.0f) return 6600.f;
     if (bullet_speed == 30.0f) return 7350.f;
   } else {
     if (bullet_speed == 10.0f) return 4450.f;

User/component/user_math.h

@@ -51,8 +51,6 @@ float InvSqrt(float x);
 
 float AbsClip(float in, float limit);
 
-float fAbs(float in);
-
 void Clip(float *origin, float min, float max);
 
 float Sign(float in);

User/device/ai.c

@@ -50,9 +50,7 @@ int8_t AI_Init(AI_t *ai) {
                             Ai_RxCpltCallback);
   BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_IDLE_LINE_CB,
                             Ai_IdleLineCallback);
-  
-  ai->search_velocity.yaw = 0.0025f;
-  ai->search_velocity.pit = 0.003f;
+
   inited = true;
   return 0;
 }
@@ -93,28 +91,12 @@ void AI_PackCmd(AI_t *ai, CMD_Host_t *cmd_host) {
   cmd_host->gimbal_delta.yaw = ai->from_host.data.gimbal.yaw;
   cmd_host->gimbal_delta.pit = ai->from_host.data.gimbal.pit;
   cmd_host->fire = (ai->from_host.data.notice & AI_NOTICE_FIRE);
+  cmd_host->rotor = (ai->from_host.data.notice & AI_NOTICE_ROTOR);
   cmd_host->chassis_move_vec.vx = ai->from_host.data.chassis_move_vec.vx;
   cmd_host->chassis_move_vec.vy = ai->from_host.data.chassis_move_vec.vy;
   cmd_host->chassis_move_vec.wz = ai->from_host.data.chassis_move_vec.wz;
 }
 
-void AI_SearchArmor(AI_t *ai, CMD_Host_t *cmd_host , AHRS_Eulr_t *gimbal_ai){
-  if (gimbal_ai->pit > 2.45){
-    ai->search_velocity.pit = fAbs(ai->search_velocity.pit);
-  } else if (gimbal_ai->pit < 2.2) {
-    ai->search_velocity.pit = -fAbs(ai->search_velocity.pit);
-  }
-  
-  if (gimbal_ai->yaw > 1.5 && gimbal_ai->yaw < 1.9) {
-    ai->search_velocity.yaw = -fAbs(ai->search_velocity.yaw);
-  } else if (gimbal_ai->yaw > 5.4 && gimbal_ai->yaw < 6.0) {
-    ai->search_velocity.yaw = fAbs(ai->search_velocity.yaw);
-  }
-
-  cmd_host->gimbal_delta.yaw = ai->search_velocity.yaw;
-  cmd_host->gimbal_delta.pit = ai->search_velocity.pit;
-}
-
 int8_t AI_HandleOffline(AI_t *ai, CMD_Host_t *cmd_host) {
   if (ai == NULL) return DEVICE_ERR_NULL;
   if (cmd_host == NULL) return DEVICE_ERR_NULL;
@@ -147,6 +129,9 @@ int8_t AI_PackMCU(AI_t *ai, const AHRS_Quaternion_t *quat, const AHRS_Eulr_t *gi
 int8_t AI_PackRef(AI_t *ai, const Referee_ForAI_t *ref) {
   (void)ref;
   ai->to_host.ref.id = AI_ID_REF;
+  ai->to_host.ref.package.data.remain_hp = ref->remain_hp;
+  ai->to_host.ref.package.data.game_progress = ref->game_progress;
+  ai->to_host.ref.package.data.stage_remain_time = ref->stage_remain_time;
   ai->to_host.ref.package.crc16 = CRC16_Calc(
       (const uint8_t *)&(ai->to_host.ref.package),
       sizeof(ai->to_host.ref.package) - sizeof(uint16_t), CRC16_INIT);

User/device/ai.h

@@ -35,17 +35,11 @@ typedef struct __packed {
   Protocol_UpPackageMCU_t package;
 } AI_UpPackageMCU_t;
 
-typedef struct {
-  float yaw;
-  float pit;
-} AI_SearchVelocity_t;
-
 typedef struct __packed {
   osThreadId_t thread_alert;
 
   Protocol_DownPackage_t from_host;
 
-  AI_SearchVelocity_t search_velocity;
   struct {
     AI_UpPackageReferee_t ref;
     AI_UpPackageMCU_t mcu;
@@ -67,7 +61,6 @@ int8_t AI_PackMCU(AI_t *ai, const AHRS_Quaternion_t *quat, const AHRS_Eulr_t *gi
 int8_t AI_PackRef(AI_t *ai, const Referee_ForAI_t *ref);
 int8_t AI_StartSend(AI_t *ai, bool option);
 void AI_PackCmd(AI_t *ai, CMD_Host_t *cmd_host);
-void AI_SearchArmor(AI_t *ai, CMD_Host_t *cmd_host , AHRS_Eulr_t *gimbal_ai);
 #ifdef __cplusplus
 }
 #endif

User/device/referee.h

@@ -20,12 +20,12 @@ extern "C" {
 
 /* Exported constants ------------------------------------------------------- */
 /* Exported macro ----------------------------------------------------------- */
-#define REF_SWITCH_STATUS(ref, stat) ((ref).ref_status = (stat))
+#define REF_SWITCH_STATUS(ref, stat) ((ref).ref_status = (stat)) 
 #define CHASSIS_POWER_MAX_WITHOUT_REF 2000.0f /* 裁判系统离线底盘最大功率 */
 
-#define REF_UI_MAX_GRAPIC_NUM (7)
-#define REF_UI_MAX_STRING_NUM (7)
-#define REF_UI_MAX_DEL_NUM (3)
+#define REF_UI_MAX_GRAPIC_NUM (7) /* 最大图形数量 */
+#define REF_UI_MAX_STRING_NUM (7) /* 最大字符串数量 */
+#define REF_UI_MAX_DEL_NUM (3) /* 最大删除数量 */
 
 /* Exported types ----------------------------------------------------------- */
 typedef struct __packed {
@@ -38,30 +38,39 @@ typedef struct __packed {
 typedef enum { REF_STATUS_OFFLINE = 0, REF_STATUS_RUNNING } Referee_Status_t;
 
 typedef enum {
-  REF_CMD_ID_GAME_STATUS = 0x0001,
-  REF_CMD_ID_GAME_RESULT = 0x0002,
-  REF_CMD_ID_GAME_ROBOT_HP = 0x0003,
-  REF_CMD_ID_DART_STATUS = 0x0004,
-  REF_CMD_ID_ICRA_ZONE_STATUS = 0x0005,
-  REF_CMD_ID_FIELD_EVENTS = 0x0101,
-  REF_CMD_ID_SUPPLY_ACTION = 0x0102,
-  REF_CMD_ID_REQUEST_SUPPLY = 0x0103,
-  REF_CMD_ID_WARNING = 0x0104,
-  REF_CMD_ID_DART_COUNTDOWN = 0x0105,
-  REF_CMD_ID_ROBOT_STATUS = 0x0201,
-  REF_CMD_ID_POWER_HEAT_DATA = 0x0202,
-  REF_CMD_ID_ROBOT_POS = 0x0203,
-  REF_CMD_ID_ROBOT_BUFF = 0x0204,
-  REF_CMD_ID_DRONE_ENERGY = 0x0205,
-  REF_CMD_ID_ROBOT_DMG = 0x0206,
-  REF_CMD_ID_SHOOT_DATA = 0x0207,
-  REF_CMD_ID_BULLET_REMAINING = 0x0208,
-  REF_CMD_ID_RFID = 0x0209,
-  REF_CMD_ID_DART_CLIENT = 0x020A,
-  REF_CMD_ID_INTER_STUDENT = 0x0301,
-  REF_CMD_ID_INTER_STUDENT_CUSTOM = 0x0302,
-  REF_CMD_ID_CLIENT_MAP = 0x0303,
-  REF_CMD_ID_KEYBOARD_MOUSE = 0x0304,
+  REF_CMD_ID_GAME_STATUS             = 0x0001,           //比赛状态数据，固定以1Hz频率发送
+  REF_CMD_ID_GAME_RESULT             = 0x0002,           //比赛结果数据，比赛结束触发发送
+  REF_CMD_ID_GAME_ROBOT_HP           = 0x0003,           //机器人血量数据，固定以3Hz频率发送
+  //REF_CMD_ID_DART_STATUS           = 0x0004,           
+  // REF_CMD_ID_ICRA_ZONE_STATUS     = 0x0005,           
+  REF_CMD_ID_FIELD_EVENTS            = 0x0101,           //场地事件数据，固定以1Hz频率发送
+  //REF_CMD_ID_SUPPLY_ACTION         = 0x0102,
+  //REF_CMD_ID_REQUEST_SUPPLY        = 0x0103,
+  REF_CMD_ID_WARNING                 = 0x0104,           //裁判警告数据
+  REF_CMD_ID_DART_COUNTDOWN          = 0x0105,           //飞镖发射相关数据
+  REF_CMD_ID_ROBOT_STATUS            = 0x0201,           //机器人性能体系数据
+  REF_CMD_ID_POWER_HEAT_DATA         = 0x0202,           //实时底盘缓冲能量和射击热量数据
+  REF_CMD_ID_ROBOT_POS               = 0x0203,           //机器人位置数据
+  REF_CMD_ID_ROBOT_BUFF              = 0x0204,           //机器人增益和底盘能量数据
+  //REF_CMD_ID_DRONE_ENERGY          = 0x0205,
+  REF_CMD_ID_ROBOT_DMG               = 0x0206,           //伤害状态数据
+  REF_CMD_ID_SHOOT_DATA              = 0x0207,           //实时射击数据
+  REF_CMD_ID_BULLET_REMAINING        = 0x0208,           //允许发弹量
+  REF_CMD_ID_RFID                    = 0x0209,           //机器人RFID模块状态
+  REF_CMD_ID_DART_CLIENT             = 0x020A,           //飞镖选手端指令数据
+  REF_CMD_ID_ROBOT_POS_TO_SENTRY     = 0X020B,           //地面机器人位置数据
+  REF_CMD_ID_RADAR_MARK              = 0X020C,           //雷达标记进度数据
+  REF_CMD_ID_SENTRY_DECISION         = 0x020D,           //哨兵自主决策相关信息同步
+  REF_CMD_ID_RADAR_DECISION          = 0x020E,           //雷达自主决策相关信息同步
+  REF_CMD_ID_INTER_STUDENT           = 0x0301,           //机器人交互数据
+  REF_CMD_ID_INTER_STUDENT_CUSTOM    = 0x0302,           //自定义控制器与机器人交互数据
+  REF_CMD_ID_CLIENT_MAP              = 0x0303,           //选手端小地图交互数据
+  REF_CMD_ID_KEYBOARD_MOUSE          = 0x0304,           //键鼠遥控数据
+  REF_CMD_ID_MAP_ROBOT_DATA          = 0x0305,           //选手端小地图接收雷达数据
+  REF_CMD_ID_CUSTOM_KEYBOARD_MOUSE   = 0X0306,           //自定义控制器与选手端交互数据
+  REF_CMD_ID_SENTRY_POS_DATA         = 0x0307,           //选手端小地图接收哨兵数据
+  REF_CMD_ID_ROBOT_POS_DATA          = 0x0308,           //选手端小地图接受机器人消息 
+  REF_CMD_ID_DATA                    = 0x0309,            //自定义控制器接收机器人数据 
 } Referee_CMDID_t;
 
 typedef struct __packed {
@@ -69,19 +78,18 @@ typedef struct __packed {
   uint8_t game_progress : 4;
   uint16_t stage_remain_time;
   uint64_t sync_time_stamp;
-} Referee_GameStatus_t;
+} Referee_GameStatus_t;/* 0x0001 */
 
 typedef struct __packed {
   uint8_t winner;
-} Referee_GameResult_t;
+} Referee_GameResult_t;/* 0x0002 */
 
 typedef struct __packed {
   uint16_t red_1;
   uint16_t red_2;
   uint16_t red_3;
   uint16_t red_4;
-  uint16_t red_5;
-  uint16_t red_6;
+  uint16_t reserved; 
   uint16_t red_7;
   uint16_t red_outpose;
   uint16_t red_base;
@@ -89,12 +97,11 @@ typedef struct __packed {
   uint16_t blue_2;
   uint16_t blue_3;
   uint16_t blue_4;
-  uint16_t blue_5;
-  uint16_t blue_6;
+  uint16_t reserved1;
   uint16_t blue_7;
   uint16_t blue_outpose;
   uint16_t blue_base;
-} Referee_GameRobotHP_t;
+} Referee_GameRobotHP_t;/* 0x0003 */
 
 typedef struct __packed {
   uint8_t dart_belong;
@@ -121,51 +128,44 @@ typedef struct __packed {
 } Referee_ICRAZoneStatus_t;
 
 typedef struct __packed {
-  uint8_t copter_pad : 2;
-  uint8_t energy_mech : 2;
-  uint8_t virtual_shield : 1;
-  uint32_t res : 27;
-} Referee_FieldEvents_t;
+  uint32_t exchange_nooverlap_status : 1;
+  uint32_t exchange_overlap_status : 1;
+  uint32_t supply_status : 1;
+  uint32_t energy_mech_small_status : 1;
+  uint32_t energy_mech_big_status : 1;
+  uint32_t highland_annular : 2;
+  uint32_t highland_trapezium_1 : 2;
+  uint32_t last_hit_time : 9;
+  uint32_t last_hit_target : 3;
+  uint32_t activation_status : 2;
+  uint32_t res : 9;
+} Referee_FieldEvents_t;/* 0x0101 */
 
 typedef struct __packed {
   uint8_t supply_id;
   uint8_t robot_id;
   uint8_t supply_step;
   uint8_t supply_sum;
-} Referee_SupplyAction_t;
+} Referee_SupplyAction_t;/* 0x0102 */
 
 typedef struct __packed {
   uint8_t place_holder; /* TODO */
-} Referee_RequestSupply_t;
+} Referee_RequestSupply_t;/* 0x0103 */
 
 typedef struct __packed {
   uint8_t level;
   uint8_t robot_id;
-} Referee_Warning_t;
+  uint8_t count;
+} Referee_Warning_t;/* 0x0104 */
 
 typedef struct __packed {
   uint8_t countdown;
-} Referee_DartCountdown_t;
+  uint16_t dart_last_target : 3;
+  uint16_t attack_count : 2;
+  uint16_t dart_target : 2;
+  uint16_t res : 8;
+} Referee_DartCountdown_t;/* 0x0105 */
 
-// typedef struct __packed {
-//   uint8_t robot_id;
-//   uint8_t robot_level;
-//   uint16_t remain_hp;
-//   uint16_t max_hp;
-//   uint16_t shoot_id1_17_cooling_rate;
-//   uint16_t shoot_id1_17_heat_limit;
-//   uint16_t shoot_id1_17_speed_limit;
-//   uint16_t shoot_id2_17_cooling_rate;
-//   uint16_t shoot_id2_17_heat_limit;
-//   uint16_t shoot_id2_17_speed_limit;
-//   uint16_t shoot_42_cooling_rate;
-//   uint16_t shoot_42_heat_limit;
-//   uint16_t shoot_42_speed_limit;
-//   uint16_t chassis_power_limit;
-//   uint8_t power_gimbal_output : 1;
-//   uint8_t power_chassis_output : 1;
-//   uint8_t power_shoot_output : 1;
-// } Referee_RobotStatus_t;
 
 typedef struct __packed {
   uint8_t robot_id;
@@ -188,22 +188,15 @@ typedef struct __packed {
   uint16_t shoot_id1_17_heat;
   uint16_t shoot_id2_17_heat;
   uint16_t shoot_42_heat;
-} Referee_PowerHeat_t;
+} Referee_PowerHeat_t;   /* 0x0202 */
 
 typedef struct __packed {
   float x;
   float y;
   float z;
   float yaw;
-} Referee_RobotPos_t;
+} Referee_RobotPos_t;    /* 0x0203 */
 
-// typedef struct __packed {
-//   uint8_t healing : 1;
-//   uint8_t cooling_acc : 1;
-//   uint8_t defense_buff : 1;
-//   uint8_t attack_buff : 1;
-//   uint8_t res : 4;
-// } Referee_RobotBuff_t;
 
 typedef struct __packed {
   uint8_t healing_buff;
@@ -211,16 +204,17 @@ typedef struct __packed {
   uint8_t defense_buff;
   uint8_t vulnerability_buff;
   uint16_t attack_buff;
-} Referee_RobotBuff_t;
+  uint8_t remaining_energy;
+} Referee_RobotBuff_t;    /* 0x0204 */
 
 typedef struct __packed {
   uint8_t attack_countdown;
-} Referee_DroneEnergy_t;
+} Referee_DroneEnergy_t;  /* 0x0205 *///删
 
 typedef struct __packed {
   uint8_t armor_id : 4;
   uint8_t damage_type : 4;
-} Referee_RobotDamage_t;
+} Referee_RobotDamage_t;  /* 0x0206 */
 
 typedef struct __packed {
   uint8_t bullet_type;
@@ -233,38 +227,106 @@ typedef struct __packed {
   uint16_t bullet_17_remain;
   uint16_t bullet_42_remain;
   uint16_t coin_remain;
-} Referee_BulletRemain_t;
+} Referee_BulletRemain_t;/* 0x0208 */
 
 typedef struct __packed {
-  uint8_t base : 1;
-  uint8_t high_ground : 1;
-  uint8_t energy_mech : 1;
-  uint8_t slope : 1;
-  uint8_t outpose : 1;
-  uint8_t resource : 1;
-  uint8_t healing_card : 1;
-  uint32_t res : 24;
-} Referee_RFID_t;
+  uint32_t own_base : 1;                  //0
+  uint32_t own_highland_annular : 1;      //1
+  uint32_t enemy_highland_annular : 1;    //2
+  uint32_t own_trapezium_R3B3 : 1;        //3
+  uint32_t enemy_trapezium_R3B3 : 1;      //4
+  uint32_t own_slope_before : 1;          //坡道前5
+  uint32_t own_slope_after : 1;           //坡道后6
+  uint32_t enemy_slope_before : 1;        //坡道前7
+  uint32_t enemy_slope_after : 1;         //坡道后8
+  uint32_t own_crosses_above : 1;         //增益点 上方9
+  uint32_t own_crosses_below : 1;         //增益点 下方10
+  uint32_t enemy_crosses_above : 1;       //增益点 上方11
+  uint32_t enemy_crosses_below : 1;       //增益点 下方12
+  uint32_t own_highway_above : 1;         //公路 上方13
+  uint32_t own_highway_below : 1;         //公路 下方14
+  uint32_t enemy_highway_above : 1;       //公路 上方15
+  uint32_t enemy_highway_below : 1;       //公路 下方16
+  uint32_t own_fortress : 1;              //己方堡垒增益点17
+  uint32_t own_outpost : 1;               //己方前哨站增益点18
+  uint32_t own_RMUL : 1;                  //己方RMUL增益点19
+  uint32_t enemy_RMDL : 1;                //敌方RMDL增益点20
+  uint32_t own_island : 1;                //己方资源岛 21
+  uint32_t enemy_island : 1;              //敌方资源岛 22
+  uint32_t centre : 1;                    //中心 23
+  uint32_t res : 8;
+} Referee_RFID_t;/* 0x0209 */
 
 typedef struct __packed {
-  uint8_t opening;
+  uint8_t opening_status;
   uint8_t target;
-  uint8_t target_changable_countdown;
-  uint8_t dart1_speed;
-  uint8_t dart2_speed;
-  uint8_t dart3_speed;
-  uint8_t dart4_speed;
-  uint16_t last_dart_launch_time;
+  uint16_t target_changable_countdown;
   uint16_t operator_cmd_launch_time;
-} Referee_DartClient_t;
+} Referee_DartClient_t;/* 0x020A */
+
+typedef struct __packed {
+  float hero_x;  
+  float hero_y;  
+  float engineer_x;  
+  float engineer_y;  
+  float standard_3_x;  
+  float standard_3_y;  
+  float standard_4_x;  
+  float standard_4_y;  
+  float reserved;  
+  float reserved1; 
+} Referee_Robot_Position_t;/* 0x020B */
+
+typedef struct __packed
+{ 
+  uint8_t mark_hero_progress;  
+  uint8_t mark_engineer_progress;  
+  uint8_t mark_standard_3_progress;  
+  uint8_t mark_standard_4_progress;  
+  uint8_t mark_sentry_progress;   
+}Referee_Radar_mark_data_t; /* 0x020C */
+
+typedef struct __packed 
+{  
+  uint32_t exchanged_bullet_num : 11;
+  uint32_t exchanged_bullet_times : 4;
+  uint32_t exchanged_blood_times : 4;
+  uint32_t Confirmation_resurrection : 1;
+  uint32_t now_resurrection : 1;
+  uint32_t money : 10;
+  uint32_t res : 1; 
+  uint16_t state : 1;
+  uint16_t quantity : 11;
+  uint16_t res1 : 4;
+} Referee_Sentry_Info_t; /* 0x020D */
+
+typedef struct __packed 
+{  
+  uint8_t qualification : 2;
+  uint8_t enemy_status : 1;
+  uint8_t res : 5;
+} Referee_Radar_Info_t; /* 0x020E */
+
+typedef struct __packed 
+{  
+  uint16_t data_cmd_id; /* 子内容ID */
+  uint16_t sender_id;
+  uint16_t receiver_id;
+  uint8_t user_data[112]; 
+} Referee_Interaction_Data_t; /* 0x0301 */
+
+typedef struct __packed 
+{  
+  uint8_t data[30];  
+} Referee_custom_robot_data_t; /* 0x0302 */
 
 typedef struct __packed {
   float position_x;
   float position_y;
-  float position_z;
   uint8_t commd_keyboard;
-  uint16_t robot_id;
-} Referee_ClientMap_t;
+  uint8_t robot_id;
+  uint8_t cmd_source;
+} Referee_ClientMap_t;/* 0x0303 */
 
 typedef struct __packed {
   int16_t mouse_x;
@@ -274,10 +336,74 @@ typedef struct __packed {
   int8_t button_r;
   uint16_t keyboard_value;
   uint16_t res;
-} Referee_KeyboardMouse_t;
+} Referee_KeyboardMouse_t;/* 0x0304 */
+
+typedef struct __packed {
+  uint16_t hero_position_x; 
+  uint16_t hero_position_y; 
+  uint16_t engineer_position_x; 
+  uint16_t engineer_position_y; 
+  uint16_t infantry_3_position_x; 
+  uint16_t infantry_3_position_y; 
+  uint16_t infantry_4_position_x; 
+  uint16_t infantry_4_position_y; 
+  uint16_t infantry_5_position_x; 
+  uint16_t infantry_5_position_y; 
+  uint16_t sentry_position_x; 
+  uint16_t sentry_position_y; 
+  } Referee_map_robot_data_t;/* 0x0305 */
+
+  typedef struct __packed {
+    uint16_t key_value;
+    uint16_t x_position : 12;
+    uint16_t mouse_left : 4;
+    uint16_t y_position : 12;
+    uint16_t mouse_right : 4;
+    uint16_t res;
+  } Referee_custom_client_data_t; /* 0x0306 */
+
+  typedef struct __packed {
+    uint8_t intention; 
+    uint16_t start_position_x; 
+    uint16_t start_position_y; 
+    int8_t delta_x[49]; 
+    int8_t delta_y[49]; 
+    uint16_t sender_id; 
+  } Referee_map_data_t;/* 0x0307 */
+
+  typedef struct __packed 
+  {  
+  uint16_t sender_id; 
+  uint16_t receiver_id; 
+  uint8_t user_data[30]; 
+  }Referee_custom_info_t; /* 0x0308 */
+
+  typedef struct __packed 
+{ 
+uint8_t data[30]; 
+}Referee_robot_custom_data_t; /* 0x0309*/
 
 typedef uint16_t Referee_Tail_t;
 
+// typedef enum {
+//   REF_BOT_RED_HERO = 1,
+//   REF_BOT_RED_ENGINEER = 2,
+//   REF_BOT_RED_INFANTRY_1 = 3,
+//   REF_BOT_RED_INFANTRY_2 = 4,
+//   REF_BOT_RED_INFANTRY_3 = 5,
+//   REF_BOT_RED_DRONE = 6,
+//   REF_BOT_RED_SENTRY = 7,
+//   REF_BOT_RED_RADER = 9,
+//   REF_BOT_BLU_HERO = 101,
+//   REF_BOT_BLU_ENGINEER = 102,
+//   REF_BOT_BLU_INFANTRY_1 = 103,
+//   REF_BOT_BLU_INFANTRY_2 = 104,
+//   REF_BOT_BLU_INFANTRY_3 = 105,
+//   REF_BOT_BLU_DRONE = 106,
+//   REF_BOT_BLU_SENTRY = 107,
+//   REF_BOT_BLU_RADER = 109,
+// } Referee_RobotID_t;//
+
 typedef enum {
   REF_BOT_RED_HERO = 1,
   REF_BOT_RED_ENGINEER = 2,
@@ -286,7 +412,10 @@ typedef enum {
   REF_BOT_RED_INFANTRY_3 = 5,
   REF_BOT_RED_DRONE = 6,
   REF_BOT_RED_SENTRY = 7,
+  REF_BOT_RED_DART = 8,
   REF_BOT_RED_RADER = 9,
+  REF_BOT_RED_OUTPOST = 10,
+  REF_BOT_RED_BASE = 11,
   REF_BOT_BLU_HERO = 101,
   REF_BOT_BLU_ENGINEER = 102,
   REF_BOT_BLU_INFANTRY_1 = 103,
@@ -294,9 +423,27 @@ typedef enum {
   REF_BOT_BLU_INFANTRY_3 = 105,
   REF_BOT_BLU_DRONE = 106,
   REF_BOT_BLU_SENTRY = 107,
+  REF_BOT_BLU_DART = 108,
   REF_BOT_BLU_RADER = 109,
-} Referee_RobotID_t;
+  REF_BOT_BLU_OUTPOST = 110,
+  REF_BOT_BLU_BASE = 111,
+} Referee_RobotID_t;//
 
+
+// typedef enum {
+//   REF_CL_RED_HERO = 0x0101,
+//   REF_CL_RED_ENGINEER = 0x0102,
+//   REF_CL_RED_INFANTRY_1 = 0x0103,
+//   REF_CL_RED_INFANTRY_2 = 0x0104,
+//   REF_CL_RED_INFANTRY_3 = 0x0105,
+//   REF_CL_RED_DRONE = 0x0106,
+//   REF_CL_BLU_HERO = 0x0165,
+//   REF_CL_BLU_ENGINEER = 0x0166,
+//   REF_CL_BLU_INFANTRY_1 = 0x0167,
+//   REF_CL_BLU_INFANTRY_2 = 0x0168,
+//   REF_CL_BLU_INFANTRY_3 = 0x0169,
+//   REF_CL_BLU_DRONE = 0x016A,
+// } Referee_ClientID_t;//选手端ID
 typedef enum {
   REF_CL_RED_HERO = 0x0101,
   REF_CL_RED_ENGINEER = 0x0102,
@@ -310,8 +457,20 @@ typedef enum {
   REF_CL_BLU_INFANTRY_2 = 0x0168,
   REF_CL_BLU_INFANTRY_3 = 0x0169,
   REF_CL_BLU_DRONE = 0x016A,
-} Referee_ClientID_t;
+  REF_CL_REFEREE_SERVER = 0x8080, /* 裁判系统服务器，用于哨兵和雷达自主决策 */
+} Referee_ClientID_t;//选手端ID
 
+
+// typedef enum {
+//   REF_STDNT_CMD_ID_UI_DEL = 0x0100,
+//   REF_STDNT_CMD_ID_UI_DRAW1 = 0x0101,
+//   REF_STDNT_CMD_ID_UI_DRAW2 = 0x0102,
+//   REF_STDNT_CMD_ID_UI_DRAW5 = 0x0103,
+//   REF_STDNT_CMD_ID_UI_DRAW7 = 0x0104,
+//   REF_STDNT_CMD_ID_UI_STR = 0x0110,
+
+//   REF_STDNT_CMD_ID_CUSTOM = 0x0200,
+// } Referee_StudentCMDID_t;
 typedef enum {
   REF_STDNT_CMD_ID_UI_DEL = 0x0100,
   REF_STDNT_CMD_ID_UI_DRAW1 = 0x0101,
@@ -319,8 +478,9 @@ typedef enum {
   REF_STDNT_CMD_ID_UI_DRAW5 = 0x0103,
   REF_STDNT_CMD_ID_UI_DRAW7 = 0x0104,
   REF_STDNT_CMD_ID_UI_STR = 0x0110,
-
   REF_STDNT_CMD_ID_CUSTOM = 0x0200,
+  REF_STDNT_CMD_ID_SENTRY_CMD = 0X0120,
+  REF_STDNT_CMD_ID_RADAR_CMD = 0X0121,
 } Referee_StudentCMDID_t;
 
 typedef struct __packed {
@@ -336,29 +496,40 @@ typedef struct __packed {
 
 typedef struct {
   Referee_Status_t ref_status;
-  Referee_GameStatus_t game_status;
-  Referee_GameResult_t game_result;
-  Referee_GameRobotHP_t game_robot_hp;
-  Referee_DartStatus_t dart_status;
-  Referee_ICRAZoneStatus_t icra_zone;
-  Referee_FieldEvents_t field_event;
-  Referee_SupplyAction_t supply_action;
-  Referee_RequestSupply_t request_supply;
-  Referee_Warning_t warning;
-  Referee_DartCountdown_t dart_countdown;
-  Referee_RobotStatus_t robot_status;
-  Referee_PowerHeat_t power_heat;
-  Referee_RobotPos_t robot_pos;
-  Referee_RobotBuff_t robot_buff;
-  Referee_DroneEnergy_t drone_energy;
-  Referee_RobotDamage_t robot_danage;
-  Referee_ShootData_t shoot_data;
-  Referee_BulletRemain_t bullet_remain;
-  Referee_RFID_t rfid;
-  Referee_DartClient_t dart_client;
-  Referee_InterStudent_Custom_t custom;
-  Referee_ClientMap_t client_map;
-  Referee_KeyboardMouse_t keyboard_mouse;
+  Referee_GameStatus_t game_status;                       /* 0x0001 */
+  Referee_GameResult_t game_result;                       /* 0x0002 */
+  Referee_GameRobotHP_t game_robot_hp;                    /* 0x0003 */
+  // Referee_DartStatus_t dart_status;
+  // Referee_ICRAZoneStatus_t icra_zone;
+  Referee_FieldEvents_t field_event;                      /* 0x0101 */
+  //Referee_SupplyAction_t supply_action;                 /* 0x0102 */
+  Referee_RequestSupply_t request_supply;                 /* 0x0103 */
+  Referee_Warning_t warning;                              /* 0x0104 */
+  Referee_DartCountdown_t dart_countdown;                 /* 0x0105 */
+  Referee_RobotStatus_t robot_status;                     /* 0x0201 */
+  Referee_PowerHeat_t power_heat;                         /* 0x0202 */
+  Referee_RobotPos_t robot_pos;                           /* 0x0203 */
+  Referee_RobotBuff_t robot_buff;                         /* 0x0204 */
+  //Referee_DroneEnergy_t drone_energy;                   /* 0x0205 */
+  Referee_RobotDamage_t robot_danage;                     /* 0x0206 */
+  Referee_ShootData_t shoot_data;                         /* 0x0207 */
+  Referee_BulletRemain_t bullet_remain;                   /* 0x0208 */
+  Referee_RFID_t rfid;                                    /* 0x0209 */
+  Referee_DartClient_t dart_client;                       /* 0x020A */
+  Referee_Robot_Position_t pos_sentry;                    /* 0x020B */
+  Referee_Radar_mark_data_t radar_mark;                   /* 0x020C */
+  Referee_Sentry_Info_t sentry_decision;                  /* 0x020D */
+  Referee_Radar_Info_t radar_decision;                    /* 0x020E */
+  // Referee_InterStudent_Custom_t custom;
+  Referee_Interaction_Data_t interactive_data;            /* 0x0301 */
+  Referee_custom_robot_data_t custom_robot_data;          /* 0x0302 */
+  Referee_ClientMap_t client_map;                         /* 0x0303 */
+  Referee_KeyboardMouse_t keyboard_mouse;                 /* 0x0304 */
+  Referee_map_robot_data_t map_robot_data;                /* 0x0305 */
+  Referee_custom_client_data_t custom_keyboard_mouse;     /* 0x0306 */
+  Referee_map_data_t sentry_pos_data;                     /* 0x0307 */
+  Referee_custom_info_t  custom_info;                     /* 0x0308 */
+  Referee_robot_custom_data_t  custom_data;               /* 0x0309*/
 
   osTimerId_t ui_fast_timer_id;
   osTimerId_t ui_slow_timer_id;
@@ -465,6 +636,9 @@ typedef struct {
 
 typedef struct {
   Referee_Status_t ref_status;
+  uint16_t remain_hp;
+  uint8_t game_progress : 4;
+  uint16_t stage_remain_time;
 } Referee_ForAI_t;
 
 typedef struct {

User/module/gimbal.c

@@ -36,9 +36,7 @@ static int8_t Gimbal_SetMode(Gimbal_t *g, CMD_GimbalMode_t mode) {
   AHRS_ResetEulr(&(g->setpoint.eulr)); /* 切换模式后重置设定值 */
   if (g->mode == GIMBAL_MODE_RELAX) {
     if (mode == GIMBAL_MODE_ABSOLUTE) {
-      // g->setpoint.eulr.yaw = g->feedback.eulr.encoder.yaw;
-      g->setpoint.eulr.yaw = 3.7f;
-      g->setpoint.eulr.pit = 2.2f;
+      g->setpoint.eulr.yaw = g->feedback.eulr.imu.yaw;
     } else if (mode == GIMBAL_MODE_RELATIVE) {
       g->setpoint.eulr.yaw = g->feedback.eulr.encoder.yaw;
     }
@@ -142,24 +140,16 @@ int8_t Gimbal_Control(Gimbal_t *g, CMD_GimbalCmd_t *g_cmd, uint32_t now) {
   const float delta_max =
       CircleError(g->limit.max,
                   (g->feedback.eulr.encoder.pit + g->setpoint.eulr.pit -
-                   g->feedback.eulr.encoder.pit),
+                   g->feedback.eulr.imu.pit),
                   M_2PI);
   const float delta_min =
       CircleError(g->limit.min,
                   (g->feedback.eulr.encoder.pit + g->setpoint.eulr.pit -
-                   g->feedback.eulr.encoder.pit),
+                   g->feedback.eulr.imu.pit),
                   M_2PI);
   Clip(&(g_cmd->delta_eulr.pit), delta_min, delta_max);
   g->setpoint.eulr.pit += g_cmd->delta_eulr.pit;
 
-  /* 限制yaw转动范围（待优化） */
-  if (g->setpoint.eulr.yaw > 5.9f && g->setpoint.eulr.yaw < 6.01f) {
-      g->setpoint.eulr.yaw = 5.9f;
-  } else if (g->setpoint.eulr.yaw > 1.4f && g->setpoint.eulr.yaw < 1.71f) {
-      g->setpoint.eulr.yaw = 1.71f;
-  }
-  
-
   /* 重置输入指令，防止重复处理 */
   AHRS_ResetEulr(&(g_cmd->delta_eulr));
 
@@ -173,17 +163,17 @@ int8_t Gimbal_Control(Gimbal_t *g, CMD_GimbalCmd_t *g_cmd, uint32_t now) {
     case GIMBAL_MODE_ABSOLUTE:
       yaw_omega_set_point =
           PID_Calc(&(g->pid[GIMBAL_PID_YAW_ANGLE_IDX]), g->setpoint.eulr.yaw,
-                   g->feedback.eulr.encoder.yaw, 0.0f, g->dt);
+                   g->feedback.eulr.imu.yaw, 0.0f, g->dt);
       g->out[GIMBAL_ACTR_YAW_IDX] =
           PID_Calc(&(g->pid[GIMBAL_PID_YAW_OMEGA_IDX]), yaw_omega_set_point,
-                   0.0, 0.f, g->dt);
+                   g->feedback.gyro.z, 0.f, g->dt);
 
       pit_omega_set_point =
           PID_Calc(&(g->pid[GIMBAL_PID_PIT_ANGLE_IDX]), g->setpoint.eulr.pit,
-                   g->feedback.eulr.encoder.pit, 0.0f, g->dt);
+                   g->feedback.eulr.imu.pit, 0.0f, g->dt);
       g->out[GIMBAL_ACTR_PIT_IDX] =
           PID_Calc(&(g->pid[GIMBAL_PID_PIT_OMEGA_IDX]), pit_omega_set_point,
-                   0.0, 0.f, g->dt);
+                   g->feedback.gyro.x, 0.f, g->dt);
       break;
 
     case GIMBAL_MODE_RELATIVE:

User/module/shoot.c

@@ -15,7 +15,7 @@
 #define HEAT_INCREASE_17MM (10.f)  /* 每发射一颗17mm弹丸增加10热量 */
 
 #define BULLET_SPEED_LIMIT_42MM (16.0)
-#define BULLET_SPEED_LIMIT_17MM (25.0)
+#define BULLET_SPEED_LIMIT_17MM (30.0)
 
 /* Private macro ------------------------------------------------------------ */
 /* Private variables -------------------------------------------------------- */

User/task/ai.c

@@ -62,9 +62,6 @@ void Task_Ai(void *argument) {
 
     if (ai.status != AI_STATUS_STOP && ai.ai_online){
       AI_PackCmd(&ai, &cmd_host);
-      if (ai.from_host.data.notice & AI_NOTICE_SEARCH_ARMOR) {
-        AI_SearchArmor(&ai, &cmd_host, &gimbal_ai);
-      }
       osMessageQueueReset(task_runtime.msgq.cmd.raw.host);
       osMessageQueuePut(task_runtime.msgq.cmd.raw.host, &(cmd_host), 0, 0);
     }