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fix ai

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Robofish 2026-03-20 06:20:16 +08:00
parent a1b60330a9
commit ba61c10613
1 changed files with 17 additions and 11 deletions
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28
User/module/cmd/cmd.c
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@ -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 */