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yongzhege

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Xiaocheng 2026-01-14 17:38:32 +08:00
parent 72a4e5b073
commit 5bf4f99113
3 changed files with 6 additions and 3 deletions
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2
User/module/cmd.c
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@ -187,7 +187,7 @@ int8_t CMD_CtrlSet(Chassis_CMD_t *c_cmd, const CMD_RC_t *rc, Gimbal_CMD_t *g_cmd
s_cmd->mode = SHOOT_MODE_SINGLE; s_cmd->mode = SHOOT_MODE_SINGLE;
break; break;
case CMD_SW_DOWN: case CMD_SW_DOWN:
s_cmd->mode = SHOOT_MODE_CONTINUE; s_cmd->mode = SHOOT_MODE_BURST;
break; break;
case CMD_SW_ERR: case CMD_SW_ERR:
s_cmd->mode = SHOOT_MODE_SAFE; s_cmd->mode = SHOOT_MODE_SAFE;

4
User/module/config.c
View File

@ -240,8 +240,8 @@ static const Config_Param_t config = {
.basic.extra_deceleration_ratio = 1, .basic.extra_deceleration_ratio = 1,
.basic.ratio_multilevel[0] = 1.0f, .basic.ratio_multilevel[0] = 1.0f,
.basic.num_trig_tooth = 8, .basic.num_trig_tooth = 8,
.basic.shot_freq = 20.0f, .basic.shot_freq = 5.0f,
.basic.shot_burst_num = 5, .basic.shot_burst_num = 1,
.jamDetection.enable = true, .jamDetection.enable = true,
.jamDetection.threshold = 120.0f, .jamDetection.threshold = 120.0f,

3
User/task/shoot.c
View File

@ -4,6 +4,7 @@
*/ */
/* Includes ----------------------------------------------------------------- */ /* Includes ----------------------------------------------------------------- */
#include "module/cmd.h"
#include "task/user_task.h" #include "task/user_task.h"
/* USER INCLUDE BEGIN */ /* USER INCLUDE BEGIN */
#include "module/shoot.h" #include "module/shoot.h"
@ -51,6 +52,7 @@ if(shoot_cmd.control_mode==SHOOT_REMOTE)
} }
else if(shoot_cmd.control_mode==SHOOT_AI) else if(shoot_cmd.control_mode==SHOOT_AI)
{ {
shoot_cmd.mode = SHOOT_MODE_SINGLE;
if(shoot_ai_cmd.mode==0 || shoot_ai_cmd.mode==1) if(shoot_ai_cmd.mode==0 || shoot_ai_cmd.mode==1)
{ {
shoot_cmd.firecmd=false; shoot_cmd.firecmd=false;
@ -59,6 +61,7 @@ if(shoot_ai_cmd.mode==0 || shoot_ai_cmd.mode==1)
} }
else if(shoot_ai_cmd.mode==2) else if(shoot_ai_cmd.mode==2)
{ {
shoot_cmd.firecmd=true; shoot_cmd.firecmd=true;
shoot_cmd.ready=true; shoot_cmd.ready=true;
} }