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fix-module/shoot-heatControl,,,热量参数待设config.c-129-134

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xxxxm 2026-03-16 11:36:31 +08:00
parent 66cc032a45
commit 8ab6208ff1
3 changed files with 7 additions and 0 deletions
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1
User/module/config.c
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@ -127,6 +127,7 @@ Config_RobotParam_t robot_config = {
}, },
.heatControl={ .heatControl={
.enable=true, .enable=true,
.safe_shots=5, // 安全出弹余量
.nmax=18.0f, // 最大射频 Hz .nmax=18.0f, // 最大射频 Hz
.Hwarn=200.0f, // 热量预警值 .Hwarn=200.0f, // 热量预警值
.Hsatu=100.0f, // 热量饱和值 .Hsatu=100.0f, // 热量饱和值

5
User/module/shoot.c
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@ -512,6 +512,11 @@ int8_t Shoot_CaluTargetAngle(Shoot_t *s, Shoot_CMD_t *cmd)
/* 根据热量控制计算实际射频 */ /* 根据热量控制计算实际射频 */
float actual_freq = Shoot_CaluFreqByHeat(s); float actual_freq = Shoot_CaluFreqByHeat(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) {
actual_freq = 0.0f; /* 禁止发弹 */
}
float dt = s->timer.now - s->var_trig.time_lastShoot; float dt = s->timer.now - s->var_trig.time_lastShoot;
float dpos; float dpos;
dpos = CircleError(s->target_variable.trig_angle, s->var_trig.trig_agl, M_2PI); dpos = CircleError(s->target_variable.trig_angle, s->var_trig.trig_agl, M_2PI);

1
User/module/shoot.h
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@ -164,6 +164,7 @@ typedef struct {
}jamDetection;/* 卡弹检测参数 */ }jamDetection;/* 卡弹检测参数 */
struct { struct {
bool enable; /* 是否启用热量控制 */ 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 nmax;//最大射频 float nmax;//最大射频
float Hwarn;//热量预警值 float Hwarn;//热量预警值
float Hsatu;//热量饱和值 float Hsatu;//热量饱和值