From a1fe767681368d0a7ee0bfddd8cff3bf014d2e39 Mon Sep 17 00:00:00 2001
From: Xiaocheng <2544262366@qq.com>
Date: Wed, 14 Jan 2026 17:50:12 +0800
Subject: [PATCH] =?UTF-8?q?huan=20=E5=88=86=E6=94=AF?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 User/module/cmd.c |  4 ++++
 User/module/cmd.h |  7 +++++++
 User/task/shoot.c | 26 ++++++++++++++++++++++++--
 3 files changed, 35 insertions(+), 2 deletions(-)

diff --git a/User/module/cmd.c b/User/module/cmd.c
index fcf0275..a8ec393 100644
--- a/User/module/cmd.c
+++ b/User/module/cmd.c
@@ -146,15 +146,19 @@ int8_t CMD_CtrlSet(Chassis_CMD_t *c_cmd, const CMD_RC_t *rc, Gimbal_CMD_t *g_cmd
         {
         case CMD_SW_UP:
             g_cmd->ctrl_mode = GIMBAL_MODE_REMOTE;
+            s_cmd->control_mode = SHOOT_REMOTE;
             break;
         case CMD_SW_MID:
             g_cmd->ctrl_mode = GIMBAL_MODE_AI;
+            s_cmd->control_mode = SHOOT_AI;
             break;  
         case CMD_SW_DOWN:
             g_cmd->ctrl_mode = GIMBAL_MODE_AI;
+            s_cmd->control_mode = SHOOT_AI;
             break;
         case CMD_SW_ERR:
             g_cmd->ctrl_mode = GIMBAL_MODE_REMOTE;
+            s_cmd->control_mode = SHOOT_REMOTE;
             break;
         }
 
diff --git a/User/module/cmd.h b/User/module/cmd.h
index 136d450..cd9090e 100644
--- a/User/module/cmd.h
+++ b/User/module/cmd.h
@@ -126,8 +126,15 @@ typedef enum {
     SHOOT_MODE_NUM
 }Shoot_Mode_t;
 
+typedef enum {
+    SHOOT_REMOTE = 0,/* 遥控器控制 */
+    SHOOT_AI,       /* AI控制 */
+} Shoot_Control_Mode_t;
+
 typedef struct {
   Shoot_Mode_t mode;/* 射击模式 */
+
+  Shoot_Control_Mode_t control_mode;/* 控制模式 */
   bool ready;       /* 准备射击 */
   bool firecmd;     /* 射击 */
 }Shoot_CMD_t;
diff --git a/User/task/shoot.c b/User/task/shoot.c
index 3565cb0..1b0b648 100644
--- a/User/task/shoot.c
+++ b/User/task/shoot.c
@@ -4,11 +4,12 @@
 */
 
 /* Includes ----------------------------------------------------------------- */
+#include "module/cmd.h"
 #include "task/user_task.h"
 /* USER INCLUDE BEGIN */
 #include "module/shoot.h"
 #include "module/config.h"
-
+#include "device/ai.h"
 /* USER INCLUDE END */
 
 /* Private typedef ---------------------------------------------------------- */
@@ -18,6 +19,7 @@
 /* USER STRUCT BEGIN */
 Shoot_t shoot;
 Shoot_CMD_t shoot_cmd;
+AI_cmd_t shoot_ai_cmd;
 /* USER STRUCT END */
 
 /* Private function --------------------------------------------------------- */
@@ -42,8 +44,28 @@ Shoot_SetMode(&shoot,SHOOT_MODE_SINGLE);
     tick += delay_tick; /* 计算下一个唤醒时刻 */
     /* USER CODE BEGIN */
 osMessageQueueGet(task_runtime.msgq.shoot.cmd, &shoot_cmd, NULL, 0);
-
+osMessageQueueGet(task_runtime.msgq.gimbal.ai.s_cmd, &shoot_ai_cmd, NULL, 0);
   
+if(shoot_cmd.control_mode==SHOOT_REMOTE)
+{
+  //do nothing，使用遥控器的指令
+}
+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)
+{
+  shoot_cmd.firecmd=false;
+  shoot_cmd.ready=true;
+
+}
+else if(shoot_ai_cmd.mode==2)
+{
+  
+  shoot_cmd.firecmd=true;
+  shoot_cmd.ready=true;
+}
+  }
 
     Shoot_UpdateFeedback(&shoot);
     Shoot_SetMode(&shoot,shoot_cmd.mode);