扫描模式小YAW不动
This commit is contained in:
parent
b78aa02d9b
commit
ead6c6e64e
@ -61,6 +61,7 @@ static void CMD_RC_BuildGimbalCmd(CMD_t *ctx) {
|
||||
|
||||
/* 右摇杆控制云台 */
|
||||
ctx->output.gimbal.cmd.delta_yaw_6020 = -ctx->input.rc.joy_right.x * 2.0f;
|
||||
ctx->output.gimbal.cmd.delta_yaw_4310 = -ctx->input.rc.joy_right.x * 1.2f;
|
||||
ctx->output.gimbal.cmd.delta_pitch_4310 = -ctx->input.rc.joy_right.y * 1.5f;
|
||||
}
|
||||
|
||||
@ -71,19 +72,19 @@ static void CMD_RC_BuildShootCmd(CMD_t *ctx) {
|
||||
} else {
|
||||
ctx->output.shoot.cmd.mode = SHOOT_MODE_SAFE;
|
||||
}
|
||||
/* 根据c拨杆控制射击 */
|
||||
/* C拨杆选择发弹模式：上单发，中多发，下连发 */
|
||||
switch (ctx->input.rc.sw[2]) {
|
||||
case CMD_SW_DOWN:
|
||||
ctx->output.shoot.cmd.mode = SHOOT_MODE_BURST;
|
||||
ctx->output.shoot.cmd.mode = SHOOT_MODE_CONTINUE;
|
||||
break;
|
||||
case CMD_SW_MID:
|
||||
ctx->output.shoot.cmd.mode = SHOOT_MODE_SINGLE;
|
||||
ctx->output.shoot.cmd.mode = SHOOT_MODE_BURST;
|
||||
break;
|
||||
case CMD_SW_UP:
|
||||
ctx->output.shoot.cmd.ready = SHOOT_MODE_SAFE;
|
||||
ctx->output.shoot.cmd.mode = SHOOT_MODE_SINGLE;
|
||||
break;
|
||||
default:
|
||||
ctx->output.shoot.cmd.ready = false;
|
||||
ctx->output.shoot.cmd.firecmd = false;
|
||||
ctx->output.shoot.cmd.mode = SHOOT_MODE_SAFE;
|
||||
break;
|
||||
}
|
||||
/* 根据D拨杆控制射击 */
|
||||
@ -108,18 +109,22 @@ static void CMD_RC_BuildShootCmd(CMD_t *ctx) {
|
||||
case CMD_SW_UP:
|
||||
ctx->output.chassis.cmd.ctrl_mode = CHASSIS_MODE_RC;
|
||||
ctx->output.gimbal.cmd.ctrl_mode = GIMBAL_MODE_REMOTE;
|
||||
ctx->output.shoot.cmd.control_mode = SHOOT_REMOTE;
|
||||
break;
|
||||
case CMD_SW_MID:
|
||||
ctx->output.chassis.cmd.ctrl_mode = CHASSIS_MODE_DAOHANG;
|
||||
ctx->output.gimbal.cmd.mode = GIMBAL_MODE_DAOHANG;
|
||||
ctx->output.shoot.cmd.control_mode = SHOOT_REMOTE;
|
||||
break;
|
||||
case CMD_SW_DOWN:
|
||||
ctx->output.chassis.cmd.ctrl_mode = CHASSIS_MODE_RELAX;
|
||||
ctx->output.gimbal.cmd.ctrl_mode = GIMBAL_MODE_AI;
|
||||
ctx->output.shoot.cmd.control_mode = SHOOT_AI;
|
||||
break;
|
||||
default:
|
||||
ctx->output.chassis.cmd.mode = CHASSIS_MODE_RELAX;
|
||||
ctx->output.gimbal.cmd.mode = GIMBAL_MODE_RELAX;
|
||||
ctx->output.shoot.cmd.control_mode = SHOOT_REMOTE;
|
||||
break;
|
||||
}
|
||||
|
||||
|
||||
@ -54,13 +54,21 @@ static uint8_t g_scan_active = 0;
|
||||
static float g_scan_pitch_center = 0.0f;
|
||||
static float g_scan_pitch_dir = 1.0f;
|
||||
static float g_scan_yaw_dir = 1.0f;
|
||||
static int8_t g_scan_yaw_edge_latch = 0; /* -1: min边界锁存, 1: max边界锁存 */
|
||||
|
||||
#define GIMBAL_SCAN_YAW_SPEED (0.55f)
|
||||
#define GIMBAL_SCAN_PITCH_SPEED (0.35f)
|
||||
#define GIMBAL_SCAN_SMALL_YAW_SPEED (0.20f)
|
||||
#define GIMBAL_SCAN_BIG_YAW_PERIOD_SEC (5.0f)
|
||||
#define GIMBAL_SCAN_PITCH_SPEED (0.16f)
|
||||
#define GIMBAL_SCAN_PITCH_AMPLITUDE (0.18f)
|
||||
#define GIMBAL_SCAN_YAW_EDGE_MARGIN (0.16f)
|
||||
#define GIMBAL_SCAN_YAW_EDGE_HYST (0.22f)
|
||||
#define GIMBAL_SCAN_YAW_EDGE_RELEASE (0.28f)
|
||||
#define GIMBAL_SCAN_PITCH_EDGE_MARGIN (0.12f)
|
||||
#define GIMBAL_SCAN_EDGE_SLOW_BAND (0.26f)
|
||||
#define GIMBAL_REMOTE_BIG_YAW_SPEED_GAIN (1.6f)
|
||||
#define GIMBAL_REMOTE_EDGE_ASSIST_BAND (0.20f)
|
||||
#define GIMBAL_YAW6020_INPUT_DEADBAND (0.0005f)
|
||||
#define GIMBAL_CONTROL_DT_MAX (0.02f)
|
||||
|
||||
|
||||
|
||||
@ -98,6 +106,7 @@ static int8_t Gimbal_SetMode(Gimbal_t *g, Gimbal_Mode_t mode) {
|
||||
|
||||
g->setpoint.eulr.pit = g->feedback.imu.eulr.rol;
|
||||
g->setpoint.eulr.yaw = g->feedback.imu.eulr.yaw;
|
||||
g->setpoint.yaw_4310 = g->feedback.motor.yaw_4310_motor_feedback.rotor_abs_angle;
|
||||
|
||||
g->mode = mode;
|
||||
return GIMBAL_OK;
|
||||
@ -124,6 +133,8 @@ int8_t Gimbal_Init(Gimbal_t *g, Gimbal_Param_t *param,float target_freq)
|
||||
}
|
||||
g->param = param;
|
||||
g->mode = GIMBAL_MODE_RELAX; /* 设置默认模式 不输出*/
|
||||
g->last_wakeup = BSP_TIME_Get_us();
|
||||
g->dt = 0.0f;
|
||||
/*6020小yaw pid初始化*/
|
||||
PID_Init(&g->pid.yaw_6020_angle,KPID_MODE_NO_D, target_freq,&g->param->pid.yaw_6020_motor_angle );
|
||||
PID_Init(&g->pid.yaw_6020_omega,KPID_MODE_CALC_D, target_freq,&g->param->pid.yaw_6020_motor_omega );
|
||||
@ -144,6 +155,8 @@ int8_t Gimbal_Init(Gimbal_t *g, Gimbal_Param_t *param,float target_freq)
|
||||
/*机械限位*/
|
||||
g->limit.yaw_6020.max = g->param->mech_zero.yaw_6020 + g->param->travel.yaw_6020;
|
||||
g->limit.yaw_6020.min = g->param->mech_zero.yaw_6020 ;
|
||||
g->limit.yaw_4310.max = g->param->mech_zero.yaw_4310 + g->param->travel.yaw_4310;
|
||||
g->limit.yaw_4310.min = g->param->mech_zero.yaw_4310 ;
|
||||
g->limit.pitch_4310.max = g->param->mech_zero.pitch_4310 + g->param->travel.pitch_4310;
|
||||
g->limit.pitch_4310.min = g->param->mech_zero.pitch_4310 ;
|
||||
|
||||
@ -164,7 +177,6 @@ int8_t Gimbal_Init(Gimbal_t *g, Gimbal_Param_t *param,float target_freq)
|
||||
*
|
||||
* \return 函数运行结果
|
||||
*/
|
||||
|
||||
int8_t Gimbal_UpdateFeedback(Gimbal_t *gimbal)
|
||||
{
|
||||
if (gimbal == NULL)
|
||||
@ -257,28 +269,59 @@ int8_t Gimbal_UpdateIMU(Gimbal_t *gimbal, const Gimbal_IMU_t *imu){
|
||||
return GIMBAL_ERR; // 参数错误
|
||||
}
|
||||
|
||||
g->dt = (BSP_TIME_Get_us() - g->last_wakeup) / 1000000.0f;
|
||||
g->last_wakeup = BSP_TIME_Get_us();
|
||||
{
|
||||
uint64_t now_us = BSP_TIME_Get_us();
|
||||
g->dt = (now_us - g->last_wakeup) / 1000000.0f;
|
||||
g->last_wakeup = now_us;
|
||||
if (g->dt < 0.0f || g->dt > GIMBAL_CONTROL_DT_MAX) {
|
||||
g->dt = 0.002f;
|
||||
}
|
||||
}
|
||||
|
||||
Gimbal_SetMode(g, g_cmd->mode);
|
||||
|
||||
if (g_cmd->ctrl_mode == GIMBAL_MODE_SCAN) {
|
||||
float yaw_speed_scale = 1.0f;
|
||||
float big_yaw_speed = 0.0f;
|
||||
float pitch_speed_scale = 1.0f;
|
||||
float yaw_abs = g->feedback.motor.yaw_6020_motor_feedback.rotor_abs_angle;
|
||||
float pitch_abs = g->feedback.motor.pitch_4310_motor_feedback.rotor_abs_angle;
|
||||
|
||||
if (!g_scan_active) {
|
||||
float yaw_mid = 0.5f * (g->limit.yaw_6020.max + g->limit.yaw_6020.min);
|
||||
g_scan_active = 1;
|
||||
g_scan_pitch_center = g->feedback.imu.eulr.pit;
|
||||
g_scan_pitch_dir = 1.0f;
|
||||
g_scan_yaw_dir = 1.0f;
|
||||
g_scan_yaw_dir = (yaw_abs >= yaw_mid) ? -1.0f : 1.0f;
|
||||
g_scan_yaw_edge_latch = 0;
|
||||
g->setpoint.yaw_4310 = g->feedback.motor.yaw_4310_motor_feedback.rotor_abs_angle;
|
||||
}
|
||||
|
||||
if (yaw_abs >= g->limit.yaw_6020.max - GIMBAL_SCAN_YAW_EDGE_MARGIN) {
|
||||
if (GIMBAL_SCAN_BIG_YAW_PERIOD_SEC > 0.0f) {
|
||||
/* 连续旋转：按周期计算角速度，5秒转一圈即 2PI/5 */
|
||||
big_yaw_speed = M_2PI / GIMBAL_SCAN_BIG_YAW_PERIOD_SEC;
|
||||
}
|
||||
|
||||
if (g_scan_yaw_edge_latch == 1) {
|
||||
g_scan_yaw_dir = -1.0f;
|
||||
if (yaw_abs < g->limit.yaw_6020.max - GIMBAL_SCAN_YAW_EDGE_RELEASE) {
|
||||
g_scan_yaw_edge_latch = 0;
|
||||
}
|
||||
} else if (g_scan_yaw_edge_latch == -1) {
|
||||
g_scan_yaw_dir = 1.0f;
|
||||
if (yaw_abs > g->limit.yaw_6020.min + GIMBAL_SCAN_YAW_EDGE_RELEASE) {
|
||||
g_scan_yaw_edge_latch = 0;
|
||||
}
|
||||
} else if (yaw_abs >= g->limit.yaw_6020.max - GIMBAL_SCAN_YAW_EDGE_MARGIN) {
|
||||
g_scan_yaw_dir = -1.0f;
|
||||
g_scan_yaw_edge_latch = 1;
|
||||
} else if (yaw_abs <= g->limit.yaw_6020.min + GIMBAL_SCAN_YAW_EDGE_MARGIN) {
|
||||
g_scan_yaw_dir = 1.0f;
|
||||
g_scan_yaw_edge_latch = -1;
|
||||
} else if (g_scan_yaw_dir > 0.0f && yaw_abs > g->limit.yaw_6020.max - GIMBAL_SCAN_YAW_EDGE_HYST) {
|
||||
g_scan_yaw_dir = -1.0f;
|
||||
} else if (g_scan_yaw_dir < 0.0f && yaw_abs < g->limit.yaw_6020.min + GIMBAL_SCAN_YAW_EDGE_HYST) {
|
||||
g_scan_yaw_dir = 1.0f;
|
||||
}
|
||||
|
||||
if (pitch_abs >= g->limit.pitch_4310.max - GIMBAL_SCAN_PITCH_EDGE_MARGIN) {
|
||||
@ -293,7 +336,7 @@ int8_t Gimbal_UpdateIMU(Gimbal_t *gimbal, const Gimbal_IMU_t *imu){
|
||||
float yaw_min_dist = (yaw_dist_to_edge_max < yaw_dist_to_edge_min) ? yaw_dist_to_edge_max : yaw_dist_to_edge_min;
|
||||
if (yaw_min_dist < GIMBAL_SCAN_EDGE_SLOW_BAND) {
|
||||
if (yaw_min_dist < 0.0f) yaw_min_dist = 0.0f;
|
||||
yaw_speed_scale = 0.25f + 0.75f * (yaw_min_dist / GIMBAL_SCAN_EDGE_SLOW_BAND);
|
||||
yaw_speed_scale = (yaw_min_dist / GIMBAL_SCAN_EDGE_SLOW_BAND);
|
||||
}
|
||||
}
|
||||
|
||||
@ -313,8 +356,15 @@ int8_t Gimbal_UpdateIMU(Gimbal_t *gimbal, const Gimbal_IMU_t *imu){
|
||||
g_scan_pitch_dir = 1.0f;
|
||||
}
|
||||
|
||||
g_cmd->delta_yaw_6020 = g_scan_yaw_dir * GIMBAL_SCAN_YAW_SPEED * yaw_speed_scale;
|
||||
g_cmd->delta_yaw_6020 = g_scan_yaw_dir * GIMBAL_SCAN_SMALL_YAW_SPEED * yaw_speed_scale;
|
||||
g_cmd->delta_pitch_4310 = g_scan_pitch_dir * GIMBAL_SCAN_PITCH_SPEED * pitch_speed_scale;
|
||||
if (g->param->travel.yaw_4310 > 0.0f) {
|
||||
g->setpoint.yaw_4310 += big_yaw_speed * g->dt;
|
||||
if (g->setpoint.yaw_4310 > g->limit.yaw_4310.max) g->setpoint.yaw_4310 = g->limit.yaw_4310.max;
|
||||
if (g->setpoint.yaw_4310 < g->limit.yaw_4310.min) g->setpoint.yaw_4310 = g->limit.yaw_4310.min;
|
||||
} else {
|
||||
CircleAdd(&(g->setpoint.yaw_4310), big_yaw_speed * g->dt, M_2PI);
|
||||
}
|
||||
g_cmd->yaw_vel = 0.0f;
|
||||
g_cmd->yaw_accl = 0.0f;
|
||||
g_cmd->pit_vel = 0.0f;
|
||||
@ -322,30 +372,37 @@ int8_t Gimbal_UpdateIMU(Gimbal_t *gimbal, const Gimbal_IMU_t *imu){
|
||||
} else {
|
||||
g_scan_active = 0;
|
||||
g_scan_yaw_dir = 1.0f;
|
||||
g_scan_yaw_edge_latch = 0;
|
||||
}
|
||||
|
||||
/*处理小yaw轴控制命令*/
|
||||
float delta_yaw_6020 = 10.0f * g_cmd->delta_yaw_6020 * g->dt;
|
||||
float yaw_abs_now = g->feedback.motor.yaw_6020_motor_feedback.rotor_abs_angle;
|
||||
float yaw_abs_target = yaw_abs_now;
|
||||
|
||||
if(g->param->travel.yaw_6020 > 0) // 有限位才处理
|
||||
{
|
||||
/* 计算当前电机角度与IMU角度的偏差 */
|
||||
/*float*/
|
||||
motor_imu_offset_6020 = g->feedback.motor.yaw_6020_motor_feedback.rotor_abs_angle - g->feedback.imu.eulr.yaw;
|
||||
/* 处理跨越±π的情况 */
|
||||
if (motor_imu_offset_6020 > M_PI) motor_imu_offset_6020 -= M_2PI;
|
||||
if (motor_imu_offset_6020 < -M_PI) motor_imu_offset_6020 += M_2PI;
|
||||
|
||||
/*计算限位距离*/
|
||||
const float delta_max_6020 = CircleError(g->limit.yaw_6020.max,
|
||||
(g->setpoint.eulr.yaw + motor_imu_offset_6020 + delta_yaw_6020), M_2PI);
|
||||
const float delta_min_6020 = CircleError(g->limit.yaw_6020.min,
|
||||
(g->setpoint.eulr.yaw + motor_imu_offset_6020 + delta_yaw_6020), M_2PI);
|
||||
|
||||
if(delta_yaw_6020 > delta_max_6020) delta_yaw_6020 = delta_max_6020;
|
||||
if(delta_yaw_6020 < delta_min_6020) delta_yaw_6020 = delta_min_6020;
|
||||
/* 摇杆无输入时抑制微小噪声，避免setpoint慢漂 */
|
||||
if (fabsf(delta_yaw_6020) < GIMBAL_YAW6020_INPUT_DEADBAND) {
|
||||
delta_yaw_6020 = 0.0f;
|
||||
}
|
||||
|
||||
if (g->param->travel.yaw_6020 > 0.0f) {
|
||||
/* 边界方向判定：到边界时只允许朝边界内侧运动 */
|
||||
if (yaw_abs_now >= g->limit.yaw_6020.max - GIMBAL_SCAN_YAW_EDGE_MARGIN && delta_yaw_6020 > 0.0f) {
|
||||
delta_yaw_6020 = 0.0f;
|
||||
}
|
||||
if (yaw_abs_now <= g->limit.yaw_6020.min + GIMBAL_SCAN_YAW_EDGE_MARGIN && delta_yaw_6020 < 0.0f) {
|
||||
delta_yaw_6020 = 0.0f;
|
||||
}
|
||||
|
||||
yaw_abs_target = yaw_abs_now + delta_yaw_6020;
|
||||
if (yaw_abs_target > g->limit.yaw_6020.max) yaw_abs_target = g->limit.yaw_6020.max;
|
||||
if (yaw_abs_target < g->limit.yaw_6020.min) yaw_abs_target = g->limit.yaw_6020.min;
|
||||
|
||||
/* 直接用允许的电机角增量映射到欧拉角目标，避免CircleAdd累积导致回弹 */
|
||||
g->setpoint.eulr.yaw = g->feedback.imu.eulr.yaw + (yaw_abs_target - yaw_abs_now);
|
||||
} else {
|
||||
CircleAdd(&(g->setpoint.eulr.yaw), delta_yaw_6020, M_2PI);
|
||||
}
|
||||
|
||||
// g->setpoint.eulr.yaw = g->setpoint.NUC_Yaw;
|
||||
|
||||
@ -353,9 +410,30 @@ const float delta_min_6020 = CircleError(g->limit.yaw_6020.min,
|
||||
/*获得小YAW的中点位置，如果小YAW大于中点的一定范围，大YAW开始运动，
|
||||
跟随小YAW向相同方向运动，将遥控数据进行分配*/
|
||||
|
||||
/*小YAW中点*/
|
||||
float small_yaw_center_offset = g->param->mech_zero.yaw_6020 + g->param->travel.yaw_6020* 0.5f ;
|
||||
g->setpoint.yaw_4310=small_yaw_center_offset;
|
||||
if (g_cmd->ctrl_mode == GIMBAL_MODE_REMOTE) {
|
||||
float delta_yaw_4310 = -GIMBAL_REMOTE_BIG_YAW_SPEED_GAIN * g_cmd->delta_yaw_4310 * g->dt;
|
||||
if (g->param->travel.yaw_6020 > 0.0f) {
|
||||
float yaw_abs_now = g->feedback.motor.yaw_6020_motor_feedback.rotor_abs_angle;
|
||||
float dist_to_max = g->limit.yaw_6020.max - yaw_abs_now;
|
||||
float dist_to_min = yaw_abs_now - g->limit.yaw_6020.min;
|
||||
float edge_assist = 1.0f;
|
||||
if (g_cmd->delta_yaw_6020 > 0.0f && dist_to_max < GIMBAL_REMOTE_EDGE_ASSIST_BAND) {
|
||||
edge_assist += (GIMBAL_REMOTE_EDGE_ASSIST_BAND - dist_to_max) / GIMBAL_REMOTE_EDGE_ASSIST_BAND;
|
||||
} else if (g_cmd->delta_yaw_6020 < 0.0f && dist_to_min < GIMBAL_REMOTE_EDGE_ASSIST_BAND) {
|
||||
edge_assist += (GIMBAL_REMOTE_EDGE_ASSIST_BAND - dist_to_min) / GIMBAL_REMOTE_EDGE_ASSIST_BAND;
|
||||
}
|
||||
if (edge_assist < 1.0f) edge_assist = 1.0f;
|
||||
if (edge_assist > 2.0f) edge_assist = 2.0f;
|
||||
delta_yaw_4310 *= edge_assist;
|
||||
}
|
||||
if (g->param->travel.yaw_4310 > 0.0f) {
|
||||
g->setpoint.yaw_4310 += delta_yaw_4310;
|
||||
if (g->setpoint.yaw_4310 > g->limit.yaw_4310.max) g->setpoint.yaw_4310 = g->limit.yaw_4310.max;
|
||||
if (g->setpoint.yaw_4310 < g->limit.yaw_4310.min) g->setpoint.yaw_4310 = g->limit.yaw_4310.min;
|
||||
} else {
|
||||
CircleAdd(&(g->setpoint.yaw_4310), delta_yaw_4310, M_2PI);
|
||||
}
|
||||
}
|
||||
|
||||
/*处理大pitch控制命令*/
|
||||
float delta_pitch_4310 = 8.0f*g_cmd->delta_pitch_4310*g->dt;
|
||||
@ -433,7 +511,7 @@ switch (g->mode)
|
||||
|
||||
|
||||
yaw_omega_set_point =PID_Calc(&g->pid.yaw_4310_angle,g->setpoint.yaw_4310,
|
||||
g->feedback.motor.yaw_6020_motor_feedback.rotor_abs_angle,g->feedback.motor.yaw_6020_motor_feedback.rotor_speed,g->dt);
|
||||
g->feedback.motor.yaw_4310_motor_feedback.rotor_abs_angle,g->feedback.motor.yaw_4310_motor_feedback.rotor_speed,g->dt);
|
||||
g->out.yaw_4310 = PID_Calc(&g->pid.yaw_4310_omega,yaw_omega_set_point,
|
||||
g->feedback.motor.yaw_4310_motor_feedback.rotor_speed,0.0f,g->dt);
|
||||
// g->out.yaw_4310 = yaw_omega_set_point; // 直接输出速度环目标值作为电机输出
|
||||
|
||||
@ -66,8 +66,10 @@ osMessageQueueGet(task_runtime.msgq.gimbal.cmd, &cmd_gimbal, NULL, 0);
|
||||
|
||||
if (cmd_gimbal.ctrl_mode == GIMBAL_MODE_AI) {
|
||||
if (ai_gimbal_result_cmd.mode == 0) {
|
||||
cmd_gimbal.mode = GIMBAL_MODE_ABSOLUTE;
|
||||
cmd_gimbal.ctrl_mode = GIMBAL_MODE_SCAN;
|
||||
} else {
|
||||
cmd_gimbal.mode = GIMBAL_MODE_ABSOLUTE;
|
||||
cmd_gimbal.ctrl_mode = GIMBAL_MODE_AI;
|
||||
cmd_gimbal.set_pitch = ai_gimbal_result_cmd.gimbal_t.setpoint.pit;
|
||||
cmd_gimbal.set_yaw = ai_gimbal_result_cmd.gimbal_t.setpoint.yaw;
|
||||
|
||||
@ -41,6 +41,10 @@ Shoot_SetMode(&shoot,SHOOT_MODE_SINGLE);
|
||||
shoot_ai_mcu_package.data.bullet_count = 0;
|
||||
static bool last_fire_state = false;
|
||||
bool current_fire_state = false; // 当前是否需要发射
|
||||
static uint32_t ai_last_fire_tick = 0;
|
||||
static const uint32_t ai_single_interval_ms = 220;
|
||||
static const uint32_t ai_burst_interval_ms = 110;
|
||||
static const uint32_t ai_continue_interval_ms = 0;
|
||||
/* USER CODE INIT END */
|
||||
|
||||
while (1) {
|
||||
@ -56,19 +60,38 @@ if(shoot_cmd.control_mode==SHOOT_REMOTE)
|
||||
}
|
||||
else if(shoot_cmd.control_mode==SHOOT_AI)
|
||||
{
|
||||
// shoot_cmd.mode = SHOOT_MODE_SINGLE;
|
||||
// if(shoot_ai_result_cmd.mode==0 || shoot_ai_result_cmd.mode==1)
|
||||
// {
|
||||
// shoot_cmd.firecmd=false;
|
||||
// shoot_cmd.ready=true;
|
||||
uint32_t now_ms = osKernelGetTickCount();
|
||||
uint32_t interval_ms = ai_single_interval_ms;
|
||||
|
||||
shoot_cmd.ready = true;
|
||||
|
||||
if (shoot_ai_result_cmd.mode == 2) {
|
||||
switch (shoot_cmd.mode) {
|
||||
case SHOOT_MODE_CONTINUE:
|
||||
interval_ms = ai_continue_interval_ms;
|
||||
break;
|
||||
case SHOOT_MODE_BURST:
|
||||
interval_ms = ai_burst_interval_ms;
|
||||
break;
|
||||
case SHOOT_MODE_SINGLE:
|
||||
default:
|
||||
interval_ms = ai_single_interval_ms;
|
||||
break;
|
||||
}
|
||||
|
||||
if (interval_ms == 0) {
|
||||
shoot_cmd.firecmd = true;
|
||||
} else if ((now_ms - ai_last_fire_tick) >= interval_ms) {
|
||||
shoot_cmd.firecmd = true;
|
||||
ai_last_fire_tick = now_ms;
|
||||
} else {
|
||||
shoot_cmd.firecmd = false;
|
||||
}
|
||||
} else {
|
||||
shoot_cmd.firecmd = false;
|
||||
ai_last_fire_tick = now_ms;
|
||||
}
|
||||
|
||||
// }
|
||||
// else if(shoot_ai_result_cmd.mode==2)
|
||||
// {
|
||||
// shoot_cmd.firecmd=true;
|
||||
// shoot_cmd.ready=true;
|
||||
// current_fire_state = true;
|
||||
// }
|
||||
current_fire_state = shoot_cmd.firecmd;
|
||||
}
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user