修复热量

User/module/cmd/cmd.c

@@ -71,7 +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_SINGLE;
+      ctx->output.shoot.cmd.mode = SHOOT_MODE_CONTINUE;
   } else {
       ctx->output.shoot.cmd.mode = SHOOT_MODE_SAFE;
   }
@@ -406,6 +406,13 @@ static void CMD_PC_BuildBalanceChassisCmd(CMD_t *ctx) {
   ctx->output.balance_chassis.cmd.move_vec.vy = 0.0f;
   ctx->output.balance_chassis.cmd.move_vec.wz = 0.0f;
 
+  ctx->output.balance_chassis.cmd.height += (float)ctx->input.pc.mouse.z * sens->mouse_sens * 0.001f * ctx->timer.dt;
+  if (ctx->output.balance_chassis.cmd.height > 1.0f) {
+    ctx->output.balance_chassis.cmd.height = 1.0f;
+  } else if (ctx->output.balance_chassis.cmd.height < 0.2f) {
+    ctx->output.balance_chassis.cmd.height = 0.2f;
+  }
+    ctx->output.balance_chassis.cmd.jump_trigger  = false;
   ctx->output.balance_chassis.cmd.mode = CHASSIS_MODE_WHELL_LEG_BALANCE;
   CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_BALANCE_CHASSIS);
 

User/module/config.c

@@ -146,16 +146,16 @@ Config_RobotParam_t robot_config = {
         },   
         .jamDetection={
             .enable=true,
-            .threshold=200.0f, 
+            .threshold=90.0f, 
             .suspectedTime=0.5f, 
         },
         .heatControl={
             .enable=true,
-            .safe_shots=0.05f, // 安全出弹余量比例
+            .safe_shots=0.10f, // 安全出弹余量比例
-            .nmax=18.0f,      // 最大射频 Hz
+            .nmax=15.0f,      // 最大射频 Hz
-            .Hwarn=0.70f,    // 预警阈值比例（70%）
+            .Hwarn=0.50f,    // 预警阈值比例（70%）
-            .Hsatu=0.40f,    // 饱和阈值比例（40%）
+            .Hsatu=0.25f,    // 饱和阈值比例（40%）
-            .Hthres=0.08f,   // 停射阈值比例（8%）
+            .Hthres=0.05f,   // 停射阈值比例（8%）
         },
         .motor={
             .fric = {
@@ -480,7 +480,7 @@ Config_RobotParam_t robot_config = {
 
     .climb = {
         .forward_speed = 1.5f,         /* 上台阶前进速度 (m/s) */
-        .theta_retract_threshold = 0.9f, /* 腿后摆收腿阈值 (rad)，约30° */
+        .theta_retract_threshold = 0.98f, /* 腿后摆收腿阈值 (rad)，约30° */
         .tp_scale = 0.08f,             /* 摆力矩缩放：削弱到10%，让腿自由后摆 */
         .settle_time_ms = 500,        /* 收腿后稳定时间 (ms) */
     },

User/module/shoot.c

@@ -353,8 +353,8 @@ static int8_t Shoot_FuseHeatData(Shoot_t *s)
             s->heatcontrol.Hnow_last = s->heatcontrol.Hnow; /* 记录本次值 */
         }
         
-        /* 融合值就是裁判系统值（作为基准） */
+        /* 连射场景下，裁判数据存在刷新延迟；取更保守的热量用于限热 */
-        s->heatcontrol.Hnow_fused = s->heatcontrol.Hnow;
+        s->heatcontrol.Hnow_fused = fmaxf(s->heatcontrol.Hnow, s->heatcontrol.Hnow_estimated);
     } else {
         /* 裁判系统数据无效，仅使用自主估计值 */
         s->heatcontrol.Hnow_fused = s->heatcontrol.Hnow_estimated;
@@ -461,26 +461,8 @@ static int8_t Shoot_HeatDetectionFSM(Shoot_t *s)
             break;
             
         case SHOOT_HEAT_DETECT_CONFIRMED:
-            /* 确认发射状态：增加热量并返回准备状态 */
+            /* 确认发射状态：仅记录检测计数。
-            /* 根据弹丸类型增加估计热量 */
+             * 估计热量在实际下发拨弹时已预扣，避免重复累加。 */
-            switch (s->param->basic.projectileType) {
-                case SHOOT_PROJECTILE_17MM:
-                    s->heatcontrol.Hnow_estimated += 10.0f;
-                    break;
-                case SHOOT_PROJECTILE_42MM:
-                    s->heatcontrol.Hnow_estimated += 100.0f;
-                    break;
-                default:
-                    s->heatcontrol.Hnow_estimated += s->heatcontrol.Hgen;
-                    break;
-            }
-            
-            /* 限制估计热量不超过最大值 */
-            if (s->heatcontrol.Hnow_estimated > s->heatcontrol.Hmax) {
-                s->heatcontrol.Hnow_estimated = s->heatcontrol.Hmax;
-            }
-            
-            /* 增加发射计数 */
             s->heatcontrol.shots_detected++;
             
             /* 返回准备检测状态 */
@@ -539,6 +521,15 @@ static float Shoot_CaluFreqByHeat(Shoot_t *s)
     float nmax = s->param->heatControl.nmax;
     float ncd = s->heatcontrol.ncd;
 
+    if (nmax <= 0.0f) {
+        nmax = s->param->basic.shot_freq;
+    }
+    if (ncd < 0.0f) {
+        ncd = 0.0f;
+    } else if (ncd > nmax) {
+        ncd = nmax;
+    }
+
     if (Hwarn <= 0.0f) {
         Hwarn = s->heatcontrol.Hmax * 0.7f;
     }
@@ -609,6 +600,14 @@ int8_t Shoot_CaluTargetAngle(Shoot_t *s, Shoot_CMD_t *cmd)
         CircleAdd(&s->target_variable.trig_angle, M_2PI/s->param->basic.num_trig_tooth, M_2PI);
 		s->var_trig.num_toShoot--;
     s->var_trig.num_shooted++;
+
+        /* 实际发射指令下发时，立刻预扣估计热量，抑制裁判数据延迟导致的超热。 */
+        if (s->param->heatControl.enable && s->heatcontrol.ref_online && s->heatcontrol.Hgen > 0.0f) {
+            s->heatcontrol.Hnow_estimated += s->heatcontrol.Hgen;
+            if (s->heatcontrol.Hnow_estimated > s->heatcontrol.Hmax) {
+                s->heatcontrol.Hnow_estimated = s->heatcontrol.Hmax;
+            }
+        }
     }
 
     return SHOOT_OK;

User/module/shoot.h

@@ -13,8 +13,8 @@ extern "C" {
 #include "component/pid.h"
 #include "device/motor_rm.h"
 /* Exported constants ------------------------------------------------------- */
-#define MAX_FRIC_NUM 6
+#define MAX_FRIC_NUM 2
-#define MAX_NUM_MULTILEVEL 2 /* 多级发射级数 */
+#define MAX_NUM_MULTILEVEL 1 /* 多级发射级数 */
 
 #define SHOOT_OK (0)        /* 运行正常 */
 #define SHOOT_ERR_NULL (-1) /* 运行时发现NULL指针 */    

User/task/ctrl_shoot.c

@@ -38,13 +38,23 @@ static int print_shoot(const void *data, char *buf, size_t size) {
       "  Fric1    : %.1f rpm (target: %.1f)\r\n"
       "  Fric_Avg : %.1f rpm\r\n"
       "  Trig     : %.1f rpm (angle: %.2f deg)\r\n"
-      "  Output   : Fric0=%.1f Fric1=%.1f Trig=%.1f\r\n",
+      "  Output   : Fric0=%.1f Fric1=%.1f Trig=%.1f\r\n"
+      "  Heat     : online=%d Hnow=%.1f Hest=%.1f Hfused=%.1f Hres=%.1f Hmax=%.1f Hgen=%.1f ncd=%.2f avail=%u\r\n",
       shoot->running_state,
       shoot->feedback.fric[0].rotor_speed, shoot->target_variable.fric_rpm,
       shoot->feedback.fric[1].rotor_speed, shoot->target_variable.fric_rpm,
       shoot->var_fric.normalized_fil_avgrpm,
       shoot->feedback.trig.feedback.rotor_speed, shoot->feedback.trig.feedback.rotor_abs_angle,
-      shoot->output.out_fric[0], shoot->output.out_fric[1], shoot->output.outagl_trig);
+      shoot->output.out_fric[0], shoot->output.out_fric[1], shoot->output.outagl_trig,
+      shoot->heatcontrol.ref_online ? 1 : 0,
+      shoot->heatcontrol.Hnow,
+      shoot->heatcontrol.Hnow_estimated,
+      shoot->heatcontrol.Hnow_fused,
+      shoot->heatcontrol.Hres,
+      shoot->heatcontrol.Hmax,
+      shoot->heatcontrol.Hgen,
+      shoot->heatcontrol.ncd,
+      (unsigned int)shoot->heatcontrol.shots_available);
   return 0;
 }
 
@@ -80,8 +90,20 @@ void Task_ctrl_shoot(void *argument) {
       shoot.heatcontrol.ref_online = true;
       shoot.heatcontrol.Hmax = (float)shoot_ref.robot_status.shooter_barrel_heat_limit;
       shoot.heatcontrol.Hcd  = (float)shoot_ref.robot_status.shooter_barrel_cooling_value;
+      switch (shoot.param->basic.projectileType) {
+        case SHOOT_PROJECTILE_17MM:
+          shoot.heatcontrol.Hnow = (float)shoot_ref.power_heat.shooter_17mm_barrel_heat;
+          shoot.heatcontrol.Hgen = 10.0f;
+          break;
+        case SHOOT_PROJECTILE_42MM:
           shoot.heatcontrol.Hnow = (float)shoot_ref.power_heat.shooter_42mm_barrel_heat;
-      shoot.heatcontrol.Hgen = 10.0f; /* 42mm弹丸每发产生热量 */
+          shoot.heatcontrol.Hgen = 100.0f;
+          break;
+        default:
+          shoot.heatcontrol.Hnow = (float)shoot_ref.power_heat.shooter_17mm_barrel_heat;
+          shoot.heatcontrol.Hgen = 10.0f;
+          break;
+      }
     } else {
       shoot.heatcontrol.ref_online = false;
     }