Merge branch 'MC_02' of ssh://gitea.qutrobot.top:222/robofish/rm_balance into MC_02

# Conflicts:
#	User/module/cmd/cmd.c
#	User/module/config.c

User/module/cmd/cmd.c

@@ -4,6 +4,7 @@
 #include "cmd.h"
 #include "bsp/time.h"
 #include "module/cmd/cmd_types.h"
+#include "module/gimbal.h"
 #include "module/shoot.h"
 #include "module/gimbal.h"
 #include <stdint.h>

User/module/config.c

@@ -545,8 +545,7 @@ Config_RobotParam_t robot_config = {
             //  .balance_sw_mid   = CHASSIS_MODE_RELAX,
             //   .balance_sw_down   = CHASSIS_MODE_RELAX,
             .balance_sw_mid  =CHASSIS_MODE_WHELL_LEG_BALANCE,
-            .balance_sw_down = CHASSIS_MODE_LEG_TEST,
-                // .balance_sw_down = CHASSIS_MODE_WHELL_LEG_BALANCE,
+            .balance_sw_down = CHASSIS_MODE_WHELL_LEG_BALANCE,
 #endif
         },
     },

User/module/shoot.c

@@ -277,6 +277,52 @@ static bool Shoot_DetectShotByRpmDrop(Shoot_t *s)
     return false;
 }
                                                       
+static float Shoot_ResolveHeatThreshold(float cfg, float Hmax)
+{
+    if (cfg <= 0.0f) {
+        return 0.0f;
+    }
+
+    if (cfg <= 1.0f) {
+        return cfg * Hmax;
+    }
+
+    return cfg;
+}
+
+static uint16_t Shoot_ResolveSafeShots(Shoot_t *s)
+{
+    if (s == NULL) {
+        return 0U;
+    }
+
+    float cfg = s->param->heatControl.safe_shots;
+    if (cfg <= 0.0f) {
+        return 0U;
+    }
+
+    if (cfg <= 1.0f) {
+        if (s->heatcontrol.Hmax <= 0.0f || s->heatcontrol.Hgen <= 0.0f) {
+            return 0U;
+        }
+
+        float total_shots = s->heatcontrol.Hmax / s->heatcontrol.Hgen;
+        float safe = ceilf(cfg * total_shots);
+        if (safe < 1.0f) {
+            safe = 1.0f;
+        }
+        if (safe > (float)UINT16_MAX) {
+            safe = (float)UINT16_MAX;
+        }
+        return (uint16_t)safe;
+    }
+
+    if (cfg > (float)UINT16_MAX) {
+        cfg = (float)UINT16_MAX;
+    }
+    return (uint16_t)cfg;
+}
+
 
 /**
  * \brief 热量数据融合：用裁判系统数据修正自主估计
@@ -469,9 +515,9 @@ static float Shoot_CaluFreqByHeat(Shoot_t *s)
     }
     
     float Hres = s->heatcontrol.Hres;
-    float Hwarn = s->param->heatControl.Hwarn;
-    float Hsatu = s->param->heatControl.Hsatu;
-    float Hthres = s->param->heatControl.Hthres;
+    float Hwarn = Shoot_ResolveHeatThreshold(s->param->heatControl.Hwarn, s->heatcontrol.Hmax);
+    float Hsatu = Shoot_ResolveHeatThreshold(s->param->heatControl.Hsatu, s->heatcontrol.Hmax);
+    float Hthres = Shoot_ResolveHeatThreshold(s->param->heatControl.Hthres, s->heatcontrol.Hmax);
     float nmax = s->param->heatControl.nmax;
     float ncd = s->heatcontrol.ncd;
 
@@ -533,10 +579,11 @@ int8_t Shoot_CaluTargetAngle(Shoot_t *s, Shoot_CMD_t *cmd)
     
     /* 根据热量控制计算实际射频 */
     float actual_freq = Shoot_CaluFreqByHeat(s);
+    uint16_t safe_shots = Shoot_ResolveSafeShots(s);
     
     /* 检查可发射弹丸数是否满足安全余量 */
     if (s->param->heatControl.enable  &&
-        s->heatcontrol.shots_available <= s->param->heatControl.safe_shots) {
+        s->heatcontrol.shots_available <= safe_shots) {
         actual_freq = 0.0f; /* 禁止发弹 */
     }
 
@@ -938,7 +985,7 @@ int8_t Shoot_Init(Shoot_t *s, Shoot_Params_t *param, float target_freq)
             KPID_MODE_CALC_D, 
             target_freq,
             &param->pid.fric_follow);
-	    PID_Init(&s->pid.fric_err[i], 
+	      PID_Init(&s->pid.fric_err[i], 
             KPID_MODE_CALC_D, 
             target_freq,
             &param->pid.fric_err);

User/module/shoot.h

@@ -102,7 +102,7 @@ typedef struct {
 }Shoot_JamDetection_t;
 
 typedef struct {
-  bool ref_online; /* 裁判系统数据是否在线 */
+  bool ref_online; /* 裁判系统在线标志：在线才启用热量限制 */
   /* 从裁判系统读取的常量 */
   float Hmax;  // 热量上限
   float Hcd;   // 热量冷却速度
@@ -165,11 +165,11 @@ typedef struct {
   }jamDetection;/* 卡弹检测参数 */
   struct {
     bool enable; /* 是否启用热量控制 */
-    uint16_t safe_shots;/* 安全余量，当shots_available小于等于该值时禁止发弹 */
+    float safe_shots;/* 安全余量：<=1按总可发弹数比例，>1按绝对发弹数 */
     float nmax;//最大射频
-    float Hwarn;//热量预警值
-    float Hsatu;//热量饱和值
-    float Hthres;//热量阈值，超过这个值将无法射击
+    float Hwarn;//预警阈值：<=1按Hmax比例，>1按绝对热量
+    float Hsatu;//饱和阈值：<=1按Hmax比例，>1按绝对热量
+    float Hthres;//停射阈值：<=1按Hmax比例，>1按绝对热量
   }heatControl;/* 热量控制参数 */
   struct {
   Shoot_MOTOR_RM_Param_t fric[MAX_FRIC_NUM];