完善原地自转控制逻辑并加入纵向速度死区与实验绘图改进

Co-authored-by: Cursor <cursoragent@cursor.com>
2026-08-07 13:00:56 +08:00
parent f8881bc243
commit 14ca1150e4
12 changed files with 971 additions and 70 deletions
@@ -188,11 +188,11 @@ namespace MultiWheelC.StateEstimation
                            poseInWorld,
                            elapsedSeconds))
                    {
-                        state = AcceptPoseAfterVelocityRebase(
+                        state = AcceptPoseAfterReset(
                            poseInWorld,
                            timestampSeconds);
                        LastFailureReason =
-                            "Detour位姿偏离上一速度预测，本次只更新位姿基准并保留滤波速度。";
+                            "Detour位姿偏离速度预测，已重新建立速度估计基准。";
                        return true;
                    }