增加倒车测试

2026-08-13 13:49:39 +08:00
parent fd35047325
commit 7611deefa3
18 changed files with 257 additions and 19 deletions
@@ -291,7 +291,9 @@ namespace MultiWheelC
            {
                _recorder?.RecordControlCycleTiming(
                    controller.LastCycleTiming.Value,
-                    motionSegmentIndex);
+                    motionSegmentIndex,
+                    controller.LastRequestedCommand,
+                    controller.LastCommand);
            }

            if (controller.LastVehicleState.HasValue)
@@ -338,8 +340,13 @@ namespace MultiWheelC
                    projection.ReferencePoint.CurvaturePerMeter);
            }

+            var requestedCommand =
+                controller.LastRequestedCommand ??
+                controller.LastCommand.Value;
            var command = controller.LastCommand.Value;
            _recorder?.UpdateGcpCommand(
+                requestedCommand.FrontAngleRadians,
+                requestedCommand.RearAngleRadians,
                command.FrontAngleRadians,
                command.RearAngleRadians);
            var curvaturePerMeter = Math.Tan(