完善状态估计、车队协调与舵轮辨识日志

2026-08-24 18:39:41 +08:00
parent 0ab409cd2a
commit 95c0b19a26
40 changed files with 5983 additions and 95 deletions
@@ -49,6 +49,12 @@ public partial class PilotConfig
    [FieldMember(desc = "停车控制：Detour自动坐标连续化最大航向变化(deg)")]
    public float ParkingDetourMaximumAutomaticHeadingShiftDegrees = 5f;

+    [FieldMember(desc = "停车控制：Detour缓存帧最大允许时间(s)")]
+    public float ParkingDetourMaximumCachedFrameAgeSeconds = 0.50f;
+
+    [FieldMember(desc = "停车控制：Detour定位质量失效/恢复确认新帧数")]
+    public int ParkingDetourLocalizationQualityConfirmationFrames = 3;
+
    [FieldMember(desc = "停车控制：Detour线速度滤波时间常数(s)")]
    public float ParkingDetourLinearVelocityFilterSeconds = 0.15f;