From ba61c1061385cc4322a36df0c0cb623e1f648b6b Mon Sep 17 00:00:00 2001
From: Robofish <1683502971@qq.com>
Date: Fri, 20 Mar 2026 06:20:16 +0800
Subject: [PATCH] fix ai

---
 User/module/cmd/cmd.c | 28 +++++++++++++++++-----------
 1 file changed, 17 insertions(+), 11 deletions(-)

diff --git a/User/module/cmd/cmd.c b/User/module/cmd/cmd.c
index 82f1dd3..30a9275 100644
--- a/User/module/cmd/cmd.c
+++ b/User/module/cmd/cmd.c
@@ -206,17 +206,23 @@ static void CMD_NUC_BuildGimbalCmd(CMD_t *ctx) {
   }
   
   /* 使用AI提供的云台控制数据 */
-  
-  // if (ctx->input.nuc.mode!=0) {
-  ctx->output.gimbal.cmd.mode = GIMBAL_MODE_AI_CONTROL;
-  ctx->output.gimbal.cmd.mode_ai = (uint8_t)ctx->input.nuc.mode; /* 直接使用AI模式细分字段 */
-  ctx->output.gimbal.cmd.setpoint_yaw = ctx->input.nuc.gimbal.setpoint.yaw;
-  ctx->output.gimbal.cmd.setpoint_pit = ctx->input.nuc.gimbal.setpoint.pit;
-  ctx->output.gimbal.cmd.ff_vel_yaw = ctx->input.nuc.gimbal.vel.yaw;
-  ctx->output.gimbal.cmd.ff_vel_pit = ctx->input.nuc.gimbal.vel.pit;
-  ctx->output.gimbal.cmd.ff_accl_yaw = ctx->input.nuc.gimbal.accl.yaw;
-  ctx->output.gimbal.cmd.ff_accl_pit = ctx->input.nuc.gimbal.accl.pit;
-  // }
+  if (ctx->input.nuc.mode != 0) {
+    /* AI有目标：进入自瞄模式，下发setpoint和前馈 */
+    ctx->output.gimbal.cmd.mode = GIMBAL_MODE_AI_CONTROL;
+    ctx->output.gimbal.cmd.mode_ai = (uint8_t)ctx->input.nuc.mode;
+    ctx->output.gimbal.cmd.setpoint_yaw = ctx->input.nuc.gimbal.setpoint.yaw;
+    ctx->output.gimbal.cmd.setpoint_pit = ctx->input.nuc.gimbal.setpoint.pit;
+    ctx->output.gimbal.cmd.ff_vel_yaw = ctx->input.nuc.gimbal.vel.yaw;
+    ctx->output.gimbal.cmd.ff_vel_pit = ctx->input.nuc.gimbal.vel.pit;
+    ctx->output.gimbal.cmd.ff_accl_yaw = ctx->input.nuc.gimbal.accl.yaw;
+    ctx->output.gimbal.cmd.ff_accl_pit = ctx->input.nuc.gimbal.accl.pit;
+  } else {
+    /* AI丢失目标(mode==0)：保持普通模式，不使用全零的AI数据 */
+    ctx->output.gimbal.cmd.mode = GIMBAL_MODE_ABSOLUTE;
+    ctx->output.gimbal.cmd.mode_ai = 0;
+    ctx->output.gimbal.cmd.delta_yaw = 0.0f;
+    ctx->output.gimbal.cmd.delta_pit = 0.0f;
+  }
 
 }
 #endif /* CMD_ENABLE_SRC_NUC && CMD_ENABLE_MODULE_GIMBAL */