From 5333918f7be71700662b9cce5eedccea9eb6626a Mon Sep 17 00:00:00 2001
From: xxxxm <2389287465@qq.com>
Date: Fri, 20 Mar 2026 03:52:29 +0800
Subject: [PATCH] =?UTF-8?q?add-cmd=E5=88=B0=E5=BA=95=E8=87=AA=E8=B5=B7?=
 =?UTF-8?q?=E5=92=8Crecover=EF=BC=8C=E5=B7=A6=E6=8B=A8=E6=9D=86=E6=9C=80?=
 =?UTF-8?q?=E4=B8=8B=E6=8A=A2=E5=8D=A0?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 User/module/cmd/cmd.c | 17 ++++++++++++-----
 User/module/config.c  |  4 ++--
 User/module/gimbal.h  |  2 +-
 3 files changed, 15 insertions(+), 8 deletions(-)

diff --git a/User/module/cmd/cmd.c b/User/module/cmd/cmd.c
index 82f1dd3..90d5e1f 100644
--- a/User/module/cmd/cmd.c
+++ b/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 <stdint.h>
 #include <string.h>
@@ -70,7 +71,7 @@ static void CMD_RC_BuildGimbalCmd(CMD_t *ctx) {
 #if CMD_ENABLE_SRC_RC && CMD_ENABLE_MODULE_SHOOT
 static void CMD_RC_BuildShootCmd(CMD_t *ctx) {
   if (ctx->input.online[CMD_SRC_RC]) {
-      ctx->output.shoot.cmd.mode = SHOOT_MODE_CONTINUE;
+      ctx->output.shoot.cmd.mode = SHOOT_MODE_SINGLE;
   } else {
       ctx->output.shoot.cmd.mode = SHOOT_MODE_SAFE;
   }
@@ -648,16 +649,22 @@ int8_t CMD_Arbitrate(CMD_t *ctx) {
   if (ctx->input.online[CMD_SRC_NUC]) {
     if (ctx->active_source==CMD_SRC_RC) {
       if (ctx->input.rc.sw[0] == CMD_SW_DOWN) {
-        ctx->output.gimbal.source = CMD_SRC_NUC;
-        ctx->output.shoot.source = CMD_SRC_NUC;
+        //用遥控器调自瞄的时候打开下面两行
+        // ctx->output.gimbal.source = CMD_SRC_NUC;
+        // ctx->output.shoot.source = CMD_SRC_NUC;
 #if CMD_ENABLE_MODULE_REFUI
         ctx->output.refui.source = CMD_SRC_NUC;
 #endif
-      }
     }
   }
+}
 #endif
-
+      if (ctx->input.rc.sw[0] == CMD_SW_DOWN) {
+        ctx->output.balance_chassis.source = CMD_SRC_RC;
+        ctx->output.gimbal.source = CMD_SRC_RC;
+        ctx->output.balance_chassis.cmd.mode = CHASSIS_MODE_LEG_TEST;
+        ctx->output.gimbal.cmd.mode = GIMBAL_MODE_RECOVER;
+      }
   return CMD_OK;
 }
 
diff --git a/User/module/config.c b/User/module/config.c
index 1e52b66..4127d44 100644
--- a/User/module/config.c
+++ b/User/module/config.c
@@ -538,14 +538,14 @@ Config_RobotParam_t robot_config = {
             .gimbal_sw_up   = GIMBAL_MODE_RELAX,
             .gimbal_sw_mid  = GIMBAL_MODE_ABSOLUTE,
             // .gimbal_sw_down = GIMBAL_MODE_RECOVER,
-            .gimbal_sw_down = GIMBAL_MODE_AI_CONTROL,
+            .gimbal_sw_down = GIMBAL_MODE_RECOVER,
 #endif
 #if CMD_ENABLE_MODULE_BALANCE_CHASSIS
             .balance_sw_up   = CHASSIS_MODE_RELAX,
             //  .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_WHELL_LEG_BALANCE,
+            .balance_sw_down = CHASSIS_MODE_LEG_TEST,
 #endif
         },
     },
diff --git a/User/module/gimbal.h b/User/module/gimbal.h
index b111c7f..86f2eb9 100644
--- a/User/module/gimbal.h
+++ b/User/module/gimbal.h
@@ -80,7 +80,7 @@ typedef struct {
       KPID_Params_t yaw_omega; /* yaw轴角速度环PID参数 */
       KPID_Params_t pit_angle; /* pitch轴角位置环PID参数 */
       KPID_Params_t pit_omega; /* pitch轴角速度环PID参数 */
-    } aimbot;
+    } aimbot;  
     struct {
       KPID_Params_t yaw_angle; /* recover yaw位置环PID参数 */
       KPID_Params_t pit_angle; /* recover pitch位置环PID参数 */