新增倒车以及项目结构优化

MultiWheelC/PilotConfig.cs

@@ -4,7 +4,10 @@ using Newtonsoft.Json;
 
 namespace MultiWheelC;
 
-public class PilotConfig : MultiWheelPilotConfig
+/// <summary>
+/// 定义由MDCS显示、持久化并随车辆部署的运行参数。
+/// </summary>
+public partial class PilotConfig : MultiWheelPilotConfig
 {
     #region 单车-轨迹跟踪 LineTracking
 
@@ -18,53 +21,6 @@ public class PilotConfig : MultiWheelPilotConfig
     [FieldMember(desc = "终点跟踪:速度")] public float DstTrackerMaxSpeed = 0.3f;
     #endregion
 
-    #region 单车-原地旋转  暂时没用上
-    [FieldMember(desc = "原地旋转：目标朝向(世界坐标系, deg)")]
-    public float InPlaceRotateTargetWorldDeg = 90f;
-
-    [FieldMember(desc = "原地旋转：旋转角速度(deg/s)")]
-    public float InPlaceRotateSpeed = 30f;
-
-    [FieldMember(desc = "原地旋转：到位角度精度(deg)")]
-    public float InPlaceRotateArriveDeg = 1.5f;
-
-    [FieldMember(desc = "原地旋转：起转前舵轮对齐精度(deg)")]
-    public float InPlaceRotateWheelAlignDeg = 2f;
-
-    [FieldMember(desc = "原地旋转：旋转过程中舵轮偏差重对齐阈值(deg)")]
-    public float InPlaceRotateActiveWheelAlignDeg = 10f;
-
-    #endregion
-
-    #region 单车-临时
-    [FieldMember(desc = "原地旋转Kp")]
-    public float InPlaceRotateKp = 1.05f;
-
-    [FieldMember(desc = "原地旋转Ki")]
-    public float InPlaceRotateKi = 0f;
-
-    [FieldMember(desc = "原地旋转Kd")]
-    public float InPlaceRotateKd = 0f;
-
-    [FieldMember(desc = "原地旋转积分限幅")]
-    public float InPlaceRotateMaxI = 0f;
-
-    [FieldMember(desc = "原地旋转最小有效角速度(deg/s)")]
-    public float InPlaceRotateMinimumSpeed = 1f;
-
-    [FieldMember(desc = "原地旋转最大角速度(deg/s)")]
-    public float InPlaceRotateMaxSpeed = 47.5f;
-
-    [FieldMember(desc = "原地旋转角加速度(deg/s²)")]
-    public float InPlaceRotateAcc = 60f;
-
-    [FieldMember(desc = "原地旋转超时(s)")]
-    public float InPlaceRotateTimeoutSec = 15f;
-    #endregion
-
-
-
-
     #region 单车-钻车与夹抱
     [FieldMember(desc = "2腿检测：雷达名（逗号分隔可多个）")]
     public string TwoLegLidarName = "rear_left_lidar_1,rear_right_lidar_1";