修热量控制

User/module/cmd/cmd.c

@@ -142,6 +142,8 @@ static void CMD_PC_BuildChassisCmd(CMD_t *ctx) {
   /* WASD控制移动 */
   ctx->output.chassis.cmd.ctrl_vec.vx = 0.0f;
   ctx->output.chassis.cmd.ctrl_vec.vy = 0.0f;
+  ctx->output.chassis.cmd.ctrl_vec.wz = 0.0f;
+
   CMD_Behavior_ProcessAll(ctx, &ctx->input, &ctx->last_input, CMD_MODULE_CHASSIS);
 }
 #endif /* CMD_ENABLE_SRC_PC && CMD_ENABLE_MODULE_CHASSIS */
@@ -155,7 +157,7 @@ static void CMD_PC_BuildGimbalCmd(CMD_t *ctx) {
       ctx->output.gimbal.cmd.mode = GIMBAL_MODE_RELAX;
       return;
   }
-  ctx->output.gimbal.cmd.mode = GIMBAL_MODE_ABSOLUTE;
+  ctx->output.gimbal.cmd.mode = GIMBAL_MODE_RELATIVE;
   
   /* 鼠标控制云台 */
   ctx->output.gimbal.cmd.delta_yaw = (float)-ctx->input.pc.mouse.x * ctx->timer.dt * sens->mouse_sens;
@@ -207,6 +209,13 @@ static void CMD_NUC_BuildGimbalCmd(CMD_t *ctx) {
       return;
   }
 
+  if (ctx->input.nuc.mode == 0) {
+      ctx->output.gimbal.cmd.mode = GIMBAL_MODE_RELATIVE;
+      ctx->output.gimbal.cmd.delta_yaw = 0.0f;
+      ctx->output.gimbal.cmd.delta_pit = 0.0f;
+      return;
+  }
+  
   /* 使用AI提供的云台控制数据 */
   
   ctx->output.gimbal.cmd.mode          = GIMBAL_MODE_AI_CONTROL;

User/module/cmd/cmd_behavior.c

@@ -78,7 +78,7 @@ int8_t CMD_Behavior_Handle_AUTOAIM(CMD_t *ctx) {
     /* 自瞄模式切换 */
 #if CMD_ENABLE_SRC_NUC && CMD_ENABLE_MODULE_GIMBAL && CMD_ENABLE_MODULE_SHOOT
   if (ctx->input.online[CMD_SRC_NUC]) {
-    if (ctx->active_source == CMD_SRC_PC){
+        if (ctx->active_source == CMD_SRC_PC && ctx->input.nuc.mode != 0){
       ctx->output.gimbal.source = CMD_SRC_NUC;
       ctx->output.shoot.source = CMD_SRC_NUC;
 #if CMD_ENABLE_MODULE_REFUI

User/module/config.c

@@ -286,11 +286,11 @@ Config_RobotParam_t robot_config = {
         },
         .heatControl={
             .enable=true,
-            .safe_shots=1,    // 安全出弹余量
+            .safe_shots=0.00f, // 安全出弹余量比例（10%）
-            .nmax=2.0f,      // 最大射频 Hz
+            .nmax=3.0f,      // 最大射频 Hz
-            .Hwarn=200.0f,    // 热量预警值
+            .Hwarn=0.70f,    // 预警阈值比例（70%）
-            .Hsatu=100.0f,    // 热量饱和值
+            .Hsatu=0.40f,    // 饱和阈值比例（40%）
-            .Hthres=50.0f,    // 热量阈值
+            .Hthres=0.08f,   // 停射阈值比例（8%）
         },
         .motor={
             .fric = {

User/module/gimbal.c

@@ -61,6 +61,7 @@ static int8_t Gimbal_SetMode(Gimbal_t *g, Gimbal_Mode_t mode) {
     g->setpoint.eulr.yaw = g->feedback.motor.yaw.rotor_abs_angle;
   } else if (mode == GIMBAL_MODE_RELATIVE) {
     g->setpoint.eulr.yaw = g->feedback.imu.eulr.yaw;
+    g->setpoint.eulr.pit = g->feedback.imu.eulr.pit;
   } else if (mode == GIMBAL_MODE_AI_CONTROL) {
     g->setpoint.eulr.yaw = g->feedback.imu.eulr.yaw;
     g->setpoint.eulr.pit =g->feedback.imu.eulr.pit;
@@ -294,7 +295,10 @@ int8_t Gimbal_Control(Gimbal_t *g, Gimbal_CMD_t *g_cmd) {
                                    g->feedback.motor.pit.rotor_abs_angle, 0.0f, g->dt);
     g->out.pit = PID_Calc(&(g->pid.relative.pit_omega), pit_omega_set_point,
                           g->feedback.imu.gyro.x, 0.f, g->dt);
-
+    // pit_omega_set_point = PID_Calc(&(g->pid.relative.pit_angle), g->setpoint.eulr.pit,
+    //                                g->feedback.imu.eulr.pit, 0.0f, g->dt);
+    // g->out.pit = PID_Calc(&(g->pid.relative.pit_omega), pit_omega_set_point,
+    //                       g->feedback.imu.gyro.x, 0.f, g->dt);
     /* 输出滤波 */
     g->out.yaw = LowPassFilter2p_Apply(&g->filter_out.yaw, g->out.yaw);
     g->out.pit = LowPassFilter2p_Apply(&g->filter_out.pit, g->out.pit);

User/module/shoot.c

@@ -277,6 +277,52 @@ static bool Shoot_DetectShotByRpmDrop(Shoot_t *s)
     return false;
 }
                                                       
+static float Shoot_ResolveHeatThreshold(float cfg, float Hmax)
+{
+    if (cfg <= 0.0f) {
+        return 0.0f;
+    }
+
+    if (cfg <= 1.0f) {
+        return cfg * Hmax;
+    }
+
+    return cfg;
+}
+
+static uint16_t Shoot_ResolveSafeShots(Shoot_t *s)
+{
+    if (s == NULL) {
+        return 0U;
+    }
+
+    float cfg = s->param->heatControl.safe_shots;
+    if (cfg <= 0.0f) {
+        return 0U;
+    }
+
+    if (cfg <= 1.0f) {
+        if (s->heatcontrol.Hmax <= 0.0f || s->heatcontrol.Hgen <= 0.0f) {
+            return 0U;
+        }
+
+        float total_shots = s->heatcontrol.Hmax / s->heatcontrol.Hgen;
+        float safe = ceilf(cfg * total_shots);
+        if (safe < 1.0f) {
+            safe = 1.0f;
+        }
+        if (safe > (float)UINT16_MAX) {
+            safe = (float)UINT16_MAX;
+        }
+        return (uint16_t)safe;
+    }
+
+    if (cfg > (float)UINT16_MAX) {
+        cfg = (float)UINT16_MAX;
+    }
+    return (uint16_t)cfg;
+}
+
 
 /**
  * \brief 热量数据融合：用裁判系统数据修正自主估计
@@ -487,12 +533,22 @@ static float Shoot_CaluFreqByHeat(Shoot_t *s)
     }
     
     float Hres = s->heatcontrol.Hres;
-    float Hwarn = s->param->heatControl.Hwarn;
+    float Hwarn = Shoot_ResolveHeatThreshold(s->param->heatControl.Hwarn, s->heatcontrol.Hmax);
-    float Hsatu = s->param->heatControl.Hsatu;
+    float Hsatu = Shoot_ResolveHeatThreshold(s->param->heatControl.Hsatu, s->heatcontrol.Hmax);
-    float Hthres = s->param->heatControl.Hthres;
+    float Hthres = Shoot_ResolveHeatThreshold(s->param->heatControl.Hthres, s->heatcontrol.Hmax);
     float nmax = s->param->heatControl.nmax;
     float ncd = s->heatcontrol.ncd;
 
+    if (Hwarn <= 0.0f) {
+        Hwarn = s->heatcontrol.Hmax * 0.7f;
+    }
+    if (Hsatu <= 0.0f || Hsatu >= Hwarn) {
+        Hsatu = Hwarn * 0.5f;
+    }
+    if (Hthres <= 0.0f || Hthres >= Hsatu) {
+        Hthres = fmaxf(Hsatu * 0.5f, s->heatcontrol.Hgen);
+    }
+    
     /* 剩余热量大于预警值：最大射频 */
     if (Hres > Hwarn) {
         return nmax;
@@ -532,10 +588,11 @@ int8_t Shoot_CaluTargetAngle(Shoot_t *s, Shoot_CMD_t *cmd)
     
     /* 根据热量控制计算实际射频 */
     float actual_freq = Shoot_CaluFreqByHeat(s);
+    uint16_t safe_shots = Shoot_ResolveSafeShots(s);
     
     /* 检查可发射弹丸数是否满足安全余量 */
     if (s->param->heatControl.enable  &&
-        s->heatcontrol.shots_available <= s->param->heatControl.safe_shots) {
+        s->heatcontrol.shots_available <= safe_shots) {
         actual_freq = 0.0f; /* 禁止发弹 */
     }
 

User/module/shoot.h

@@ -165,11 +165,11 @@ typedef struct {
   }jamDetection;/* 卡弹检测参数 */
   struct {
     bool enable; /* 是否启用热量控制 */
-    uint16_t safe_shots;/* 安全余量，当shots_available小于等于该值时禁止发弹 */
+    float safe_shots;/* 安全余量：<=1按总可发弹数比例，>1按绝对发弹数 */
     float nmax;//最大射频
-    float Hwarn;//热量预警值
+    float Hwarn;//预警阈值：<=1按Hmax比例，>1按绝对热量
-    float Hsatu;//热量饱和值
+    float Hsatu;//饱和阈值：<=1按Hmax比例，>1按绝对热量
-    float Hthres;//热量阈值，超过这个值将无法射击
+    float Hthres;//停射阈值：<=1按Hmax比例，>1按绝对热量
   }heatControl;/* 热量控制参数 */
   struct {
   Shoot_MOTOR_RM_Param_t fric[MAX_FRIC_NUM];

User/task/ctrl_shoot.c

@@ -54,9 +54,20 @@ 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 = 100.0f; /* 42mm弹丸每发产生热量 */
+          shoot.heatcontrol.Hgen = 100.0f;
-    } else {
+          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;
       shoot.heatcontrol.Hmax = 0.0f;
       shoot.heatcontrol.Hcd = 0.0f;

ozone/hero.jdebug.user

@@ -2,15 +2,9 @@
 
 
 Breakpoint=D:/CUBEMX/hero/god-yuan-hero/User/device/dr16.c:69:52, State=BP_STATE_DISABLED
-GraphedExpression="((((gimbal).feedback).imu).eulr).pit", Color=#e56a6f, Show=0
+GraphedExpression="((ref).robot_status).shooter_barrel_heat_limit", DisplayFormat=DISPLAY_FORMAT_DEC, Color=#e56a6f, Show=0
-GraphedExpression="((((gimbal).feedback).imu).eulr).yaw", Color=#35792b, Show=0
+GraphedExpression="((ref).power_heat).shooter_42mm_barrel_heat", DisplayFormat=DISPLAY_FORMAT_DEC, Color=#35792b, Show=0
-GraphedExpression="(((ai_cmd_from_can).gimbal_t).setpoint).yaw", Color=#769dda, Show=0
+GraphedExpression="((shoot ).heatcontrol).shots_available", DisplayFormat=DISPLAY_FORMAT_DEC, Color=#769dda
-GraphedExpression="(((ai_cmd_from_can).gimbal_t).setpoint).pit", Color=#b14f0d, Show=0
-GraphedExpression="((dr16).raw_data).ch_r_x", DisplayFormat=DISPLAY_FORMAT_DEC, Color=#b3c38e, Show=0
-GraphedExpression="((dr16).data).ch_r_x", Color=#ab7b05, Show=0
-GraphedExpression="((((gimbal).feedback).motor).pit).rotor_abs_angle", Color=#7fd3b7, Show=0
-GraphedExpression="((shoot).heatcontrol).Hnow", Color=#50328f
-GraphedExpression="((shoot).heatcontrol).shots_available", DisplayFormat=DISPLAY_FORMAT_DEC, Color=#c587a5, Show=0
 OpenDocument="startup_stm32h723xx.s", FilePath="D:/CUBEMX/hero/god-yuan-hero/startup_stm32h723xx.s", Line=47
 OpenDocument="port.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c", Line=716
 OpenDocument="tasks.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Middlewares/Third_Party/FreeRTOS/Source/tasks.c", Line=4104
@@ -52,19 +46,18 @@ OpenDocument="motor_rm.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/device/mo
 OpenDocument="stm32h7xx_hal_uart_ex.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_hal_uart_ex.c", Line=964
 OpenDocument="queue.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Middlewares/Third_Party/FreeRTOS/Source/queue.c", Line=1275
 OpenDocument="chassis.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/module/chassis.c", Line=213
-OpenDocument="supercap.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/supercap.c", Line=15
 OpenDocument="atti_esti.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/task/atti_esti.c", Line=121
 OpenDocument="fdcan.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/Core/Src/fdcan.c", Line=0
 OpenDocument="time.c", FilePath="D:/CUBEMX/hero/god-yuan-hero/User/bsp/time.c", Line=17
 OpenToolbar="Debug", Floating=0, x=0, y=0
-OpenWindow="Registers 1", DockArea=RIGHT, x=0, y=2, w=695, h=337, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, FilteredItems=[], RefreshRate=1
+OpenWindow="Registers 1", DockArea=RIGHT, x=0, y=2, w=695, h=336, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, FilteredItems=[], RefreshRate=1
 OpenWindow="Source Files", DockArea=LEFT, x=0, y=0, w=312, h=983, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
-OpenWindow="Disassembly", DockArea=RIGHT, x=0, y=1, w=695, h=322, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
+OpenWindow="Disassembly", DockArea=RIGHT, x=0, y=1, w=695, h=323, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
 OpenWindow="Memory 1", DockArea=BOTTOM, x=0, y=0, w=462, h=491, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, EditorAddress=0xFFFF5088
-OpenWindow="Watched Data 1", DockArea=RIGHT, x=0, y=2, w=695, h=337, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
+OpenWindow="Watched Data 1", DockArea=RIGHT, x=0, y=2, w=695, h=336, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
 OpenWindow="Functions", DockArea=LEFT, x=0, y=0, w=312, h=983, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
 OpenWindow="Data Sampling", DockArea=BOTTOM, x=2, y=0, w=752, h=472, TabPos=0, TopOfStack=1, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, VisibleTab=0, UniformSampleSpacing=0
-OpenWindow="Timeline", DockArea=BOTTOM, x=1, y=0, w=1344, h=491, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="5 s / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="22;108", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="1431;-69", CodeGraphLegendShown=0, CodeGraphLegendPosition="1447;0"
+OpenWindow="Timeline", DockArea=BOTTOM, x=1, y=0, w=1344, h=491, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=1, DataPaneShown=1, PowerPaneShown=0, CodePaneShown=0, PinCursor="Cursor Movable", TimePerDiv="5 s / Div", TimeStampFormat="Time", DataGraphDrawAsPoints=0, DataGraphLegendShown=1, DataGraphUniformSampleSpacing=0, DataGraphLegendPosition="22;108", DataGraphShowNamesAtCursor=0, PowerGraphDrawAsPoints=0, PowerGraphLegendShown=0, PowerGraphAvgFilterTime=Off, PowerGraphAvgFilterLen=Off, PowerGraphUniformSampleSpacing=0, PowerGraphLegendPosition="1148;-69", CodeGraphLegendShown=0, CodeGraphLegendPosition="1164;0"
 OpenWindow="Console", DockArea=BOTTOM, x=2, y=0, w=752, h=472, TabPos=1, TopOfStack=0, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0
 OpenWindow="RTOS", DockArea=RIGHT, x=0, y=0, w=695, h=322, FilterBarShown=0, TotalValueBarShown=0, ToolBarShown=0, Showing=""
 SmartViewPlugin="", Page="", Toolbar="Hidden", Window="SmartView 1"
@@ -74,8 +67,8 @@ TableHeader="Power Sampling", SortCol="None", SortOrder="ASCENDING", VisibleCols
 TableHeader="RegisterSelectionDialog", SortCol="None", SortOrder="ASCENDING", VisibleCols=[], ColWidths=[]
 TableHeader="Source Files", SortCol="File", SortOrder="ASCENDING", VisibleCols=["File";"Status";"Size";"#Insts";"Path"], ColWidths=[215;100;100;100;1022]
 TableHeader="Watched Data 1", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Value";"Location";"Refresh"], ColWidths=[298;229;145;100]
-TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";" ((((gimbal).feedback).imu).eulr).pit";" ((((gimbal).feedback).imu).eulr).yaw";" (((ai_cmd_from_can).gimbal_t).setpoint).yaw";" (((ai_cmd_from_can).gimbal_t).setpoint).pit";" ((dr16).raw_data).ch_r_x";" ((dr16).data).ch_r_x";" ((((gimbal).feedback).motor).pit).rotor_abs_angle";" ((shoot).heatcontrol).Hnow";" ((shoot).heatcontrol).shots_available"], ColWidths=[100;100;100;100;100;100;100;100;100;100;100]
+TableHeader="Data Sampling Table", SortCol="None", SortOrder="ASCENDING", VisibleCols=["Index";"Time";" ((ref).robot_status).shooter_barrel_heat_limit";" ((ref).power_heat).shooter_42mm_barrel_heat";" ((shoot ).heatcontrol).shots_available"], ColWidths=[100;100;100;100;100]
-TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[118;214;100;100;100;100;110;126;126]
+TableHeader="Data Sampling Setup", SortCol="Expression", SortOrder="ASCENDING", VisibleCols=["Expression";"Type";"Value";"Min";"Max";"Average";"# Changes";"Min. Change";"Max. Change"], ColWidths=[118;154;100;100;100;114;110;126;126]
 TableHeader="TargetExceptionDialog", SortCol="Name", SortOrder="ASCENDING", VisibleCols=["Name";"Value";"Address";"Description"], ColWidths=[200;100;100;340]
 WatchedExpression="cmd", RefreshRate=5, Window=Watched Data 1
 WatchedExpression="bmi088", RefreshRate=5, Window=Watched Data 1