贯通车队运行链并支持轨迹自动推导β

2026-08-25 17:59:18 +08:00
parent 95c0b19a26
commit 17092c2766
37 changed files with 3632 additions and 37 deletions
@@ -119,7 +119,7 @@ public partial class PilotConfig
    #region 停车控制-原地自转

    [FieldMember(desc = "停车控制：原地自转Kp")]
-    public float InPlaceRotateKp = 1.03f;
+    public float InPlaceRotateKp = 1.0f;

    [FieldMember(desc = "停车控制：原地自转Ki")]
    public float InPlaceRotateKi = 0f;
@@ -141,11 +141,11 @@ public partial class PilotConfig

    [FieldMember(desc = "停车控制：原地自转最大角速度(deg/s)")]
    // public float InPlaceRotateMaxSpeed = 47.5f;
-    public float InPlaceRotateMaxSpeed = 30f;
+    public float InPlaceRotateMaxSpeed = 45f;

    [FieldMember(desc = "停车控制：原地自转角加速度(deg/s²)")]
    // public float InPlaceRotateAcc = 60f;
-    public float InPlaceRotateAcc = 40f;
+    public float InPlaceRotateAcc = 45f;

    [FieldMember(desc = "停车控制：原地自转超时(s)")]
    public float InPlaceRotateTimeoutSec = 15f;