From 6d70af459920d865af05d51ab41f2893427d5530 Mon Sep 17 00:00:00 2001
From: Robofish <1683502971@qq.com>
Date: Thu, 19 Feb 2026 13:03:05 +0800
Subject: [PATCH] remake_jump

---
 User/module/balance_chassis.c | 20 +++++++-------------
 User/module/balance_chassis.h |  8 --------
 User/module/config.c          |  2 +-
 User/task/ctrl_chassis.c      |  6 ------
 User/task/rc.c                | 11 ++++++++---
 5 files changed, 16 insertions(+), 31 deletions(-)

diff --git a/User/module/balance_chassis.c b/User/module/balance_chassis.c
index e3b8ddc..8cb2ebf 100644
--- a/User/module/balance_chassis.c
+++ b/User/module/balance_chassis.c
@@ -580,6 +580,13 @@ int8_t Chassis_Control(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
     return CHASSIS_ERR_MODE;
   }
 
+  /* 跳跃触发入口统一放在底盘控制主流程：由chassis_cmd直接驱动 */
+  if (c_cmd->jump_trigger &&
+      c->mode == CHASSIS_MODE_WHELL_LEG_BALANCE &&
+      c->jump.state == JUMP_IDLE) {
+    c->jump.trigger = true;
+  }
+
   /* VMC正解算 */
   VMC_ForwardSolve(&c->vmc_[0], c->feedback.joint[0].rotor_abs_angle,
                    c->feedback.joint[1].rotor_abs_angle,
@@ -948,16 +955,3 @@ int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd) {
 
   return CHASSIS_OK;
 }
-
-/**
- * @brief 触发跳跃
- * @param c 底盘结构体指针
- */
-void Chassis_TriggerJump(Chassis_t *c) {
-  if (c == NULL) return;
-  
-  /* 只在平衡模式且待机状态下可触发跳跃 */
-  if (c->mode == CHASSIS_MODE_WHELL_LEG_BALANCE && c->jump.state == JUMP_IDLE) {
-    c->jump.trigger = true;
-  }
-}
diff --git a/User/module/balance_chassis.h b/User/module/balance_chassis.h
index e6dfda9..19a5879 100644
--- a/User/module/balance_chassis.h
+++ b/User/module/balance_chassis.h
@@ -249,14 +249,6 @@ int8_t Chassis_Control(Chassis_t *c, const Chassis_CMD_t *c_cmd);
  */
 int8_t Chassis_LQRControl(Chassis_t *c, const Chassis_CMD_t *c_cmd);
 
-/**
- * \brief 触发跳跃
- *
- * \param c 包含底盘数据的结构体
- * \note 只在CHASSIS_MODE_WHELL_LEG_BALANCE模式下有效
- */
-void Chassis_TriggerJump(Chassis_t *c);
-
 /**
  * \brief 底盘输出值
  *
diff --git a/User/module/config.c b/User/module/config.c
index 2b7c900..775a8a7 100644
--- a/User/module/config.c
+++ b/User/module/config.c
@@ -348,7 +348,7 @@ Config_RobotParam_t robot_config = {
         .launch_time_ms = 120,
         .retract_time_ms = 80,
         .land_time_ms = 300,
-        .crouch_leg_length = 0.1f,
+        .crouch_leg_length = 0.14f,
         .launch_force = 200.0f,
         .retract_leg_length = 0.1f,   /* 收腿目标更短 */
         .retract_force = -120.0f,      /* 收腿前馈力加大 */
diff --git a/User/task/ctrl_chassis.c b/User/task/ctrl_chassis.c
index b5d3439..e180d6a 100644
--- a/User/task/ctrl_chassis.c
+++ b/User/task/ctrl_chassis.c
@@ -90,12 +90,6 @@ void Task_ctrl_chassis(void *argument) {
  
     Chassis_UpdateFeedback(&chassis);
 
-    /* 检查跳跃触发 */
-    if (chassis_cmd.jump_trigger) {
-      Chassis_TriggerJump(&chassis);
-      chassis_cmd.jump_trigger = false;  /* 清除触发标志 */
-    }
-
     Chassis_Control(&chassis, &chassis_cmd);  
     osMessageQueueReset(task_runtime.msgq.chassis.vofa); // 重置消息队列，防止阻塞
     osMessageQueuePut(task_runtime.msgq.chassis.vofa, &chassis, 0, 0);
diff --git a/User/task/rc.c b/User/task/rc.c
index 55698da..6a82a6c 100644
--- a/User/task/rc.c
+++ b/User/task/rc.c
@@ -143,18 +143,23 @@ void Task_rc(void *argument) {
 /************************* 底盘命令 **************************************/
     /* 跳跃触发检测：ch_res 从 -1.0f 松开回 0 时触发 */
     static bool ch_res_was_min = false;  /* 记录上次是否在最低位置 */
+    static uint8_t jump_trigger_hold_cnt = 0;  /* 触发保持计数，避免单拍脉冲被队列重置吞掉 */
     const float CH_RES_MIN_THRESHOLD = -0.9f;  /* 判定为最低位置的阈值 */
     const float CH_RES_RELEASE_THRESHOLD = -0.3f;  /* 判定为松开的阈值 */
-    
-    cmd_for_chassis.jump_trigger = false;  /* 默认不触发 */
+
     if (dr16.data.ch_res < CH_RES_MIN_THRESHOLD) {
       ch_res_was_min = true;  /* 记录已到达最低位置 */
     } else if (ch_res_was_min && dr16.data.ch_res > CH_RES_RELEASE_THRESHOLD) {
       /* 从最低位置松开，触发跳跃 */
-      cmd_for_chassis.jump_trigger = true;
+      jump_trigger_hold_cnt = 5;  /* 保持5个RC周期，确保ctrl任务一定能收到 */
       ch_res_was_min = false;  /* 重置状态 */
     }
 
+    cmd_for_chassis.jump_trigger = (jump_trigger_hold_cnt > 0);
+    if (jump_trigger_hold_cnt > 0) {
+      jump_trigger_hold_cnt--;
+    }
+
 switch (dr16.data.sw_l) {
     case DR16_SW_UP:
       cmd_for_chassis.mode = CHASSIS_MODE_RELAX;