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Update fleet manual remote scaling

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ruifeng.zhou
2026-07-15 14:01:46 +08:00
parent 68dd6fc061
commit 2ade94f196
8 changed files with 83 additions and 160 deletions
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MultiWheel/MultiWheelC/PilotConfig.cs
+8 -9
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@@ -6,15 +6,14 @@ namespace MultiWheelC;
public class PilotConfig : MultiWheelPilotConfig
{
// ===== 多车联动（已从 MDCSToolBox 内联回 Tutorial）=====
[FieldMember(desc = "[sync] 转向角加速度(deg/s^2)")] public float SyncThAccPerSec = 30f;
[FieldMember(desc = "[sync] 编队车间距(mm)")] public float TestCarSyncDistance = 2400f;
[FieldMember(desc = "[sync] 编队布局偏角(deg)")] public float TestCarSyncTh = 0f;
// 手动遥控 Vx 已是 m/s、Vth 已是转向角(deg)，此处系数保持 1（直通），不要再次缩放。
[FieldMember(desc = "[sync] 手动Vx系数")] public float ManualCarSyncVxFac = 1f;
// Manual crab mode: VxFac scales linear speed, VyFac maps steer stick ratio to crab steer angle in degrees.
[FieldMember(desc = "[sync] 手动Vy系数(蟹行满杆舵角deg)")] public float ManualCarSyncVyFac = 60f;
[FieldMember(desc = "[sync] 手动Vth系数")] public float ManualCarSyncVthFac = 1f;
[FieldMember(desc = "[sync] steering angle acceleration(deg/s^2)")] public float SyncThAccPerSec = 30f;
[FieldMember(desc = "[sync] fleet member distance(mm)")] public float TestCarSyncDistance = 2400f;
[FieldMember(desc = "[sync] fleet layout bias angle(deg)")] public float TestCarSyncTh = 0f;
// Fleet manual remote IO values are normalized joystick ratios. Keep all speed/angle scaling here.
[FieldMember(desc = "[sync] fleet manual max linear speed(m/s)")] public float FleetManualMaxSpeed = 0.3f;
[FieldMember(desc = "[sync] fleet manual normal-mode full-stick steering angle(deg)")] public float FleetManualMaxSteerAngleDeg = 45f;
[FieldMember(desc = "[sync] fleet manual crab-mode full-stick steering angle(deg)")] public float FleetManualMaxCrabAngleDeg = 60f;
[FieldMember(desc = "[sync] fleet manual rotate-mode full-stick angular speed(deg/s)")] public float FleetManualMaxRotateOmegaDegPerSec = 45f;
[FieldMember(desc = "[sync] 蟹行舵角上限(deg，应与Medulla舵轮角度限制匹配，默认120)")] public float MultiVehicleCrabSteerLimitDeg = 120f;
[FieldMember(desc = "[sync] 检测中心偏移(mm)")] public float DeltaDetectCenter = 350f;
// 仅控制"车队内姿态纠正"(POS 补偿)是否使用 Detour 的 SLAM 位姿，不影响"整个车队姿态的计算"。