正常的英雄

MDK-ARM/DevC.uvoptx

@@ -407,6 +407,11 @@
           <WinNumber>1</WinNumber>
           <ItemText>rc</ItemText>
         </Ww>
+        <Ww>
+          <count>10</count>
+          <WinNumber>1</WinNumber>
+          <ItemText>cmd_host</ItemText>
+        </Ww>
       </WatchWindow1>
       <Tracepoint>
         <THDelay>0</THDelay>
@@ -658,7 +663,7 @@
 
   <Group>
     <GroupName>Application/User/USB_DEVICE/App</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1214,7 +1219,7 @@
 
   <Group>
     <GroupName>Middlewares/USB_Device_Library</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1494,7 +1499,7 @@
 
   <Group>
     <GroupName>User/component</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1670,7 +1675,7 @@
 
   <Group>
     <GroupName>User/device</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>
@@ -1750,7 +1755,7 @@
 
   <Group>
     <GroupName>User/module</GroupName>
-    <tvExp>1</tvExp>
+    <tvExp>0</tvExp>
     <tvExpOptDlg>0</tvExpOptDlg>
     <cbSel>0</cbSel>
     <RteFlg>0</RteFlg>

User/component/cmd.c

@@ -190,27 +190,27 @@ static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec) {
       /* 左拨杆相应行为选择和解析 */
     case CMD_SW_UP:
       cmd->chassis.mode = CHASSIS_MODE_BREAK;
-      cmd->host_overwrite = false;
+      // cmd->host_overwrite = false;
-      cmd->shoot.ai_fire = false;
+      // cmd->shoot.ai_fire = false;
       break;
 
     case CMD_SW_MID:
       cmd->chassis.mode = CHASSIS_MODE_FOLLOW_GIMBAL;
-      cmd->host_overwrite = true;
+      // cmd->host_overwrite = true;
-      cmd->shoot.ai_fire = false;
+      // cmd->shoot.ai_fire = false;
       break;
 
     case CMD_SW_DOWN:
       cmd->chassis.mode = CHASSIS_MODE_ROTOR;
       cmd->chassis.mode_rotor = ROTOR_MODE_CW;
-      cmd->host_overwrite = true;
+      // cmd->host_overwrite = true;
-      cmd->shoot.ai_fire = true;
+      // cmd->shoot.ai_fire = true;
       break;
 
     case CMD_SW_ERR:
       cmd->chassis.mode = CHASSIS_MODE_RELAX;
-      cmd->host_overwrite = false;
+      // cmd->host_overwrite = false;
-      cmd->shoot.ai_fire = false;
+      // cmd->shoot.ai_fire = false;
       break;
   }
   switch (rc->sw_r) {
@@ -254,7 +254,7 @@ static void CMD_RcLogic(const CMD_RC_t *rc, CMD_t *cmd, float dt_sec) {
     case CMD_SW_ERR:
       cmd->gimbal.mode = GIMBAL_MODE_RELAX;
       cmd->shoot.mode = SHOOT_MODE_RELAX;
-      cmd->host_overwrite = false;
+      // cmd->host_overwrite = 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 */
   cmd->chassis.ctrl_vec.vx = rc->ch_l_x;
@@ -355,13 +355,12 @@ 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;
 
-  cmd->shoot.mode = SHOOT_MODE_LOADED;
-  cmd->shoot.fire = false;
   /* host射击命令，设置不同的射击频率和弹丸初速度 */
-  if (host->fire && cmd->shoot.ai_fire) {
+  if (host->fire) {
+    cmd->shoot.mode = SHOOT_MODE_LOADED;
     cmd->shoot.fire = true;
   } else {
-    cmd->shoot.fire = false;
+    cmd->shoot.mode = SHOOT_MODE_SAFE;
   }
   return 0;
 }

User/module/config.c

@@ -289,7 +289,7 @@ static const Config_RobotParam_t param_hero = {
       },
     }, /* pid */
 
-		.pitch_travel_rad = 1.07685447f,
+		.pitch_travel_rad = 0.9685447f,
     
     .low_pass_cutoff_freq = {
       .out = -1.0f,