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base: robofish:3404c951b895f64a3b17352078a04f5010aeecf2
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robofish:main
robofish:sentry_right
robofish:infantry
robofish:无超电hero
robofish:sentry_chassis
robofish:hero
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compare: robofish:d79bb5ea0b8c1cbab3a918b934e93d3b4eefa8bb
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robofish:sentry_right
robofish:infantry
robofish:无超电hero
robofish:sentry_chassis
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robofish:main

9 Commits
3404c951b8 ... d79bb5ea0b

Author SHA1 Message Date
RB
d79bb5ea0b 改完了 2025-03-19 17:19:43 +08:00
RB
3a509aaf87 修改扫描范围 2025-03-17 13:09:57 +08:00
RB
aa5e191f30 修改射频10 2025-03-16 23:40:02 +08:00
RB
1b0ed78b10 修改弹速 2025-03-16 23:02:55 +08:00
RB
fe7d4bd705 调了个硬的 2025-03-16 10:37:46 +08:00
RB
0ff235f235 准备调pid 2025-03-16 09:56:29 +08:00
RB
1f897bd9ae 调好pid了 2025-03-15 01:03:52 +08:00
RB
6b05b4d58a 修改扫描范围 2025-03-14 22:47:40 +08:00
RB
a749be5f93 修改扫描速度 2025-03-14 22:10:04 +08:00
19 changed files with 19131 additions and 19023 deletions
Show Stats Expand all files Collapse all files

253
MDK-ARM/DevC.uvguix.lvzucheng
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13
MDK-ARM/DevC.uvoptx
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@ -417,7 +417,20 @@
<WinNumber>1</WinNumber> <WinNumber>1</WinNumber>
<ItemText>host</ItemText> <ItemText>host</ItemText>
</Ww> </Ww>
<Ww>
<count>12</count>
<WinNumber>1</WinNumber>
<ItemText>gimbal_ai</ItemText>
</Ww>
</WatchWindow1> </WatchWindow1>
<MemoryWindow4>
<Mm>
<WinNumber>4</WinNumber>
<SubType>0</SubType>
<ItemText>for_chassis</ItemText>
<AccSizeX>0</AccSizeX>
</Mm>
</MemoryWindow4>
<Tracepoint> <Tracepoint>
<THDelay>0</THDelay> <THDelay>0</THDelay>
</Tracepoint> </Tracepoint>

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MDK-ARM/DevC/DevC.axf
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12
MDK-ARM/DevC/DevC.build_log.htm
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@ -22,7 +22,7 @@ Dialog DLL: TCM.DLL V1.48.0.0
<h2>Project:</h2> <h2>Project:</h2>
C:\Users\lvzucheng\Documents\RMUL2025\MDK-ARM\DevC.uvprojx C:\Users\lvzucheng\Documents\RMUL2025\MDK-ARM\DevC.uvprojx
Project File Date: 03/09/2025 Project File Date: 03/19/2025
<h2>Output:</h2> <h2>Output:</h2>
*** Using Compiler 'V6.16', folder: 'C:\Keil_v5\ARM\ARMCLANG\Bin' *** Using Compiler 'V6.16', folder: 'C:\Keil_v5\ARM\ARMCLANG\Bin'
@ -37,9 +37,13 @@ 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\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\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'. Note: source file '..\User\task\referee.c' - object file renamed from 'DevC\referee.o' to 'DevC\referee_1.o'.
compiling cmd.c... compiling user_math.c...
compiling main.c...
compiling ai.c...
compiling config.c...
compiling shoot.c...
linking... linking...
Program Size: Code=149536 RO-data=7272 RW-data=760 ZI-data=43832 Program Size: Code=149600 RO-data=6928 RW-data=1104 ZI-data=43832
FromELF: creating hex file... FromELF: creating hex file...
"DevC\DevC.axf" - 0 Error(s), 0 Warning(s). "DevC\DevC.axf" - 0 Error(s), 0 Warning(s).
@ -55,7 +59,7 @@ Package Vendor: Keil
C:\Users\lvzucheng\AppData\Local\Arm\Packs\Keil\STM32F4xx_DFP\2.15.0\Drivers\CMSIS\Device\ST\STM32F4xx\Include 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> <h2>Collection of Component Files used:</h2>
Build Time Elapsed: 00:00:02 Build Time Elapsed: 00:00:03
</pre> </pre>
</body> </body>
</html> </html>

19327
MDK-ARM/DevC/DevC.hex
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32
MDK-ARM/DevC/DevC.htm
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@ -3,7 +3,7 @@
<title>Static Call Graph - [DevC\DevC.axf]</title></head> <title>Static Call Graph - [DevC\DevC.axf]</title></head>
<body><HR> <body><HR>
<H1>Static Call Graph for image DevC\DevC.axf</H1><HR> <H1>Static Call Graph for image DevC\DevC.axf</H1><HR>
<BR><P>#&#060CALLGRAPH&#062# ARM Linker, 6160001: Last Updated: Mon Mar 10 22:02:56 2025 <BR><P>#&#060CALLGRAPH&#062# ARM Linker, 6160001: Last Updated: Wed Mar 19 17:14:45 2025
<BR><P> <BR><P>
<H3>Maximum Stack Usage = 632 bytes + Unknown(Cycles, Untraceable Function Pointers)</H3><H3> <H3>Maximum Stack Usage = 632 bytes + Unknown(Cycles, Untraceable Function Pointers)</H3><H3>
Call chain for Maximum Stack Depth:</H3> Call chain for Maximum Stack Depth:</H3>
@ -724,9 +724,9 @@ Global Symbols
<BR>[Called By]<UL><LI><a href="#[347]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__ieee754_rem_pio2 <BR>[Called By]<UL><LI><a href="#[347]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__ieee754_rem_pio2
</UL> </UL>
<P><STRONG><a name="[362]"></a>__decompress</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __dczerorl2.o(.text), UNUSED) <P><STRONG><a name="[362]"></a>__decompress</STRONG> (Thumb, 0 bytes, Stack size unknown bytes, __dclz77c.o(.text), UNUSED)
<P><STRONG><a name="[363]"></a>__decompress1</STRONG> (Thumb, 86 bytes, Stack size unknown bytes, __dczerorl2.o(.text), UNUSED) <P><STRONG><a name="[363]"></a>__decompress2</STRONG> (Thumb, 94 bytes, Stack size unknown bytes, __dclz77c.o(.text), UNUSED)
<P><STRONG><a name="[c3]"></a>AHRS_GetEulr</STRONG> (Thumb, 348 bytes, Stack size 48 bytes, ahrs.o(.text.AHRS_GetEulr)) <P><STRONG><a name="[c3]"></a>AHRS_GetEulr</STRONG> (Thumb, 348 bytes, Stack size 48 bytes, ahrs.o(.text.AHRS_GetEulr))
<BR><BR>[Stack]<UL><LI>Max Depth = 80<LI>Call Chain = AHRS_GetEulr &rArr; __hardfp_atan2f <BR><BR>[Stack]<UL><LI>Max Depth = 80<LI>Call Chain = AHRS_GetEulr &rArr; __hardfp_atan2f
@ -751,8 +751,8 @@ Global Symbols
<P><STRONG><a name="[188]"></a>AHRS_ResetEulr</STRONG> (Thumb, 18 bytes, Stack size 4 bytes, ahrs.o(.text.AHRS_ResetEulr)) <P><STRONG><a name="[188]"></a>AHRS_ResetEulr</STRONG> (Thumb, 18 bytes, Stack size 4 bytes, ahrs.o(.text.AHRS_ResetEulr))
<BR><BR>[Stack]<UL><LI>Max Depth = 4<LI>Call Chain = AHRS_ResetEulr <BR><BR>[Stack]<UL><LI>Max Depth = 4<LI>Call Chain = AHRS_ResetEulr
</UL> </UL>
<BR>[Called By]<UL><LI><a href="#[184]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Gimbal_SetMode <BR>[Called By]<UL><LI><a href="#[183]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Gimbal_Control
<LI><a href="#[183]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Gimbal_Control <LI><a href="#[184]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Gimbal_SetMode
</UL> </UL>
<P><STRONG><a name="[ca]"></a>AHRS_Update</STRONG> (Thumb, 3098 bytes, Stack size 224 bytes, ahrs.o(.text.AHRS_Update)) <P><STRONG><a name="[ca]"></a>AHRS_Update</STRONG> (Thumb, 3098 bytes, Stack size 224 bytes, ahrs.o(.text.AHRS_Update))
@ -1353,7 +1353,7 @@ Global Symbols
<BR>[Called By]<UL><LI><a href="#[268]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Referee_Parse <BR>[Called By]<UL><LI><a href="#[268]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Referee_Parse
</UL> </UL>
<P><STRONG><a name="[280]"></a>CalculateRpm</STRONG> (Thumb, 284 bytes, Stack size 20 bytes, user_math.o(.text.CalculateRpm)) <P><STRONG><a name="[280]"></a>CalculateRpm</STRONG> (Thumb, 320 bytes, Stack size 20 bytes, user_math.o(.text.CalculateRpm))
<BR><BR>[Stack]<UL><LI>Max Depth = 20<LI>Call Chain = CalculateRpm <BR><BR>[Stack]<UL><LI>Max Depth = 20<LI>Call Chain = CalculateRpm
</UL> </UL>
<BR>[Called By]<UL><LI><a href="#[27c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Shoot_Control <BR>[Called By]<UL><LI><a href="#[27c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Shoot_Control
@ -1443,20 +1443,20 @@ Global Symbols
<P><STRONG><a name="[185]"></a>CircleAdd</STRONG> (Thumb, 132 bytes, Stack size 16 bytes, user_math.o(.text.CircleAdd)) <P><STRONG><a name="[185]"></a>CircleAdd</STRONG> (Thumb, 132 bytes, Stack size 16 bytes, user_math.o(.text.CircleAdd))
<BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = CircleAdd <BR><BR>[Stack]<UL><LI>Max Depth = 16<LI>Call Chain = CircleAdd
</UL> </UL>
<BR>[Called By]<UL><LI><a href="#[283]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Shoot_UpdateFeedback <BR>[Called By]<UL><LI><a href="#[183]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Gimbal_Control
<LI><a href="#[283]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Shoot_UpdateFeedback
<LI><a href="#[27c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Shoot_Control <LI><a href="#[27c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Shoot_Control
<LI><a href="#[27d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Shoot_SetMode <LI><a href="#[27d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Shoot_SetMode
<LI><a href="#[189]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Gimbal_Init <LI><a href="#[189]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Gimbal_Init
<LI><a href="#[183]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Gimbal_Control
</UL> </UL>
<P><STRONG><a name="[186]"></a>CircleError</STRONG> (Thumb, 154 bytes, Stack size 20 bytes, user_math.o(.text.CircleError)) <P><STRONG><a name="[186]"></a>CircleError</STRONG> (Thumb, 154 bytes, Stack size 20 bytes, user_math.o(.text.CircleError))
<BR><BR>[Stack]<UL><LI>Max Depth = 20<LI>Call Chain = CircleError <BR><BR>[Stack]<UL><LI>Max Depth = 20<LI>Call Chain = CircleError
</UL> </UL>
<BR>[Called By]<UL><LI><a href="#[148]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PID_Calc <BR>[Called By]<UL><LI><a href="#[183]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Gimbal_Control
<LI><a href="#[148]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PID_Calc
<LI><a href="#[283]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Shoot_UpdateFeedback <LI><a href="#[283]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Shoot_UpdateFeedback
<LI><a href="#[27d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Shoot_SetMode <LI><a href="#[27d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Shoot_SetMode
<LI><a href="#[183]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Gimbal_Control
</UL> </UL>
<P><STRONG><a name="[14c]"></a>CircleReverse</STRONG> (Thumb, 32 bytes, Stack size 4 bytes, user_math.o(.text.CircleReverse)) <P><STRONG><a name="[14c]"></a>CircleReverse</STRONG> (Thumb, 32 bytes, Stack size 4 bytes, user_math.o(.text.CircleReverse))
@ -1752,7 +1752,7 @@ Global Symbols
<BR>[Called By]<UL><LI><a href="#[8e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_CLI <BR>[Called By]<UL><LI><a href="#[8e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_CLI
</UL> </UL>
<P><STRONG><a name="[183]"></a>Gimbal_Control</STRONG> (Thumb, 844 bytes, Stack size 64 bytes, gimbal.o(.text.Gimbal_Control)) <P><STRONG><a name="[183]"></a>Gimbal_Control</STRONG> (Thumb, 856 bytes, Stack size 64 bytes, gimbal.o(.text.Gimbal_Control))
<BR><BR>[Stack]<UL><LI>Max Depth = 184<LI>Call Chain = Gimbal_Control &rArr; Gimbal_SetMode &rArr; PID_Reset &rArr; LowPassFilter2p_Reset &rArr; LowPassFilter2p_Apply &rArr; __ARM_isinf <BR><BR>[Stack]<UL><LI>Max Depth = 184<LI>Call Chain = Gimbal_Control &rArr; Gimbal_SetMode &rArr; PID_Reset &rArr; LowPassFilter2p_Reset &rArr; LowPassFilter2p_Apply &rArr; __ARM_isinf
</UL> </UL>
<BR>[Calls]<UL><LI><a href="#[184]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Gimbal_SetMode <BR>[Calls]<UL><LI><a href="#[184]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Gimbal_SetMode
@ -3118,11 +3118,11 @@ Global Symbols
<LI><a href="#[23a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__ARM_isinf <LI><a href="#[23a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__ARM_isinf
<LI><a href="#[c8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_f2d <LI><a href="#[c8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_f2d
</UL> </UL>
<BR>[Called By]<UL><LI><a href="#[145]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Chassis_Control <BR>[Called By]<UL><LI><a href="#[183]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Gimbal_Control
<LI><a href="#[145]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Chassis_Control
<LI><a href="#[148]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PID_Calc <LI><a href="#[148]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;PID_Calc
<LI><a href="#[156]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;LowPassFilter2p_Reset <LI><a href="#[156]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;LowPassFilter2p_Reset
<LI><a href="#[27c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Shoot_Control <LI><a href="#[27c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Shoot_Control
<LI><a href="#[183]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Gimbal_Control
</UL> </UL>
<P><STRONG><a name="[14e]"></a>LowPassFilter2p_Init</STRONG> (Thumb, 316 bytes, Stack size 40 bytes, filter.o(.text.LowPassFilter2p_Init)) <P><STRONG><a name="[14e]"></a>LowPassFilter2p_Init</STRONG> (Thumb, 316 bytes, Stack size 40 bytes, filter.o(.text.LowPassFilter2p_Init))
@ -3448,10 +3448,10 @@ Global Symbols
<LI><a href="#[14a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;LowPassFilter2p_Apply <LI><a href="#[14a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;LowPassFilter2p_Apply
<LI><a href="#[c8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_f2d <LI><a href="#[c8]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;__aeabi_f2d
</UL> </UL>
<BR>[Called By]<UL><LI><a href="#[145]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Chassis_Control <BR>[Called By]<UL><LI><a href="#[183]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Gimbal_Control
<LI><a href="#[145]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Chassis_Control
<LI><a href="#[8d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_AttiEsti <LI><a href="#[8d]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Task_AttiEsti
<LI><a href="#[27c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Shoot_Control <LI><a href="#[27c]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Shoot_Control
<LI><a href="#[183]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Gimbal_Control
</UL> </UL>
<P><STRONG><a name="[14d]"></a>PID_Init</STRONG> (Thumb, 406 bytes, Stack size 32 bytes, pid.o(.text.PID_Init)) <P><STRONG><a name="[14d]"></a>PID_Init</STRONG> (Thumb, 406 bytes, Stack size 32 bytes, pid.o(.text.PID_Init))
@ -3972,12 +3972,12 @@ Global Symbols
<LI><a href="#[f7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osKernelGetTickFreq <LI><a href="#[f7]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osKernelGetTickFreq
<LI><a href="#[289]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osKernelGetTickCount <LI><a href="#[289]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osKernelGetTickCount
<LI><a href="#[28e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osDelayUntil <LI><a href="#[28e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;osDelayUntil
<LI><a href="#[183]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Gimbal_Control
<LI><a href="#[18a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Gimbal_UpdateFeedback <LI><a href="#[18a]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Gimbal_UpdateFeedback
<LI><a href="#[29e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Gimbal_PackAI <LI><a href="#[29e]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Gimbal_PackAI
<LI><a href="#[189]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Gimbal_Init <LI><a href="#[189]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Gimbal_Init
<LI><a href="#[2a0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Gimbal_DumpUI <LI><a href="#[2a0]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Gimbal_DumpUI
<LI><a href="#[29f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Gimbal_DumpOutput <LI><a href="#[29f]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Gimbal_DumpOutput
<LI><a href="#[183]">&gt;&gt;</a>&nbsp;&nbsp;&nbsp;Gimbal_Control
</UL> </UL>
<BR>[Address Reference Count : 1]<UL><LI> init.o(.text.Task_Init) <BR>[Address Reference Count : 1]<UL><LI> init.o(.text.Task_Init)
</UL> </UL>

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MDK-ARM/DevC/DevC.map
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MDK-ARM/DevC/DevC_Debug.dep
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1
User/component/user_math.c
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@ -107,6 +107,7 @@ inline float CalculateRpm(float bullet_speed, float fric_radius, bool is17mm) {
if (is17mm) { if (is17mm) {
if (bullet_speed == 15.0f) return 4670.f; if (bullet_speed == 15.0f) return 4670.f;
if (bullet_speed == 18.0f) return 5200.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; if (bullet_speed == 30.0f) return 7350.f;
} else { } else {
if (bullet_speed == 10.0f) return 4450.f; if (bullet_speed == 10.0f) return 4450.f;

10
User/device/ai.c
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@ -51,7 +51,7 @@ int8_t AI_Init(AI_t *ai) {
BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_IDLE_LINE_CB, BSP_UART_RegisterCallback(BSP_UART_AI, BSP_UART_IDLE_LINE_CB,
Ai_IdleLineCallback); Ai_IdleLineCallback);
ai->search_velocity.yaw = 0.0015f; ai->search_velocity.yaw = 0.0025f;
ai->search_velocity.pit = 0.003f; ai->search_velocity.pit = 0.003f;
inited = true; inited = true;
return 0; return 0;
@ -99,15 +99,15 @@ 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){ void AI_SearchArmor(AI_t *ai, CMD_Host_t *cmd_host , AHRS_Eulr_t *gimbal_ai){
if (gimbal_ai->pit > 2.75){ if (gimbal_ai->pit > 2.45){
ai->search_velocity.pit = fAbs(ai->search_velocity.pit); ai->search_velocity.pit = fAbs(ai->search_velocity.pit);
} else if (gimbal_ai->pit < 2.35) { } else if (gimbal_ai->pit < 2.2) {
ai->search_velocity.pit = -fAbs(ai->search_velocity.pit); ai->search_velocity.pit = -fAbs(ai->search_velocity.pit);
} }
if (gimbal_ai->yaw > 1.4 && gimbal_ai->yaw < 1.7) { if (gimbal_ai->yaw > 1.5 && gimbal_ai->yaw < 1.9) {
ai->search_velocity.yaw = -fAbs(ai->search_velocity.yaw); ai->search_velocity.yaw = -fAbs(ai->search_velocity.yaw);
} else if (gimbal_ai->yaw > 5.7 && gimbal_ai->yaw < 6.0) { } else if (gimbal_ai->yaw > 5.4 && gimbal_ai->yaw < 6.0) {
ai->search_velocity.yaw = fAbs(ai->search_velocity.yaw); ai->search_velocity.yaw = fAbs(ai->search_velocity.yaw);
} }

1283
User/module/config.c
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6
User/module/gimbal.c
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@ -153,10 +153,10 @@ int8_t Gimbal_Control(Gimbal_t *g, CMD_GimbalCmd_t *g_cmd, uint32_t now) {
g->setpoint.eulr.pit += g_cmd->delta_eulr.pit; g->setpoint.eulr.pit += g_cmd->delta_eulr.pit;
/* 限制yaw转动范围（待优化） */ /* 限制yaw转动范围（待优化） */
if (g->setpoint.eulr.yaw > 5.9f && g->setpoint.eulr.yaw < 6.0f) { if (g->setpoint.eulr.yaw > 5.9f && g->setpoint.eulr.yaw < 6.01f) {
g->setpoint.eulr.yaw = 5.9f; g->setpoint.eulr.yaw = 5.9f;
} else if (g->setpoint.eulr.yaw > 1.4f && g->setpoint.eulr.yaw < 1.5f) { } else if (g->setpoint.eulr.yaw > 1.4f && g->setpoint.eulr.yaw < 1.71f) {
g->setpoint.eulr.yaw = 1.5f; g->setpoint.eulr.yaw = 1.71f;
} }

2
User/module/shoot.c
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@ -15,7 +15,7 @@
#define HEAT_INCREASE_17MM (10.f) /* 每发射一颗17mm弹丸增加10热量 */ #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_42MM (16.0)
#define BULLET_SPEED_LIMIT_17MM (30.0) #define BULLET_SPEED_LIMIT_17MM (25.0)
/* Private macro ------------------------------------------------------------ */ /* Private macro ------------------------------------------------------------ */
/* Private variables -------------------------------------------------------- */ /* Private variables -------------------------------------------------------- */