fix: stabilize stopped-start EM planning and add txt diagnostics

2026-08-07 15:51:31 +08:00
parent f2970d0aff
commit d378ad6257
13 changed files with 373 additions and 53 deletions
@@ -96,9 +96,9 @@ public sealed partial class EmPlannerConfiguration
            Validation = new ValidationConfiguration
            {
                SpatialToleranceMeters = 1e-8d,
-                KinematicTolerance = 1e-8d,
-                TerminalPositionToleranceMeters = 0.03d,
-                TerminalYawToleranceRadians = 5d * System.Math.PI / 180d,
+                KinematicTolerance = 1e-5d,
+                TerminalPositionToleranceMeters = 0d,
+                TerminalYawToleranceRadians = 0d,
            },
        };
    }