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Update MultiWheel fleet sync and restore clamp support

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This commit is contained in:
ruifeng.zhou
2026-06-30 22:20:10 +08:00
parent 3411654a34
commit 574987222a
14 changed files with 287 additions and 225 deletions
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MultiWheel/MultiWheelC/PilotConfig.cs
+11 -1
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@@ -12,7 +12,8 @@ public class PilotConfig : MultiWheelPilotConfig
[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;
[FieldMember(desc = "[sync] 手动Vy系数(蟹行横向)")] public float ManualCarSyncVyFac = 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] 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;
@@ -238,6 +239,15 @@ public class PilotConfig : MultiWheelPilotConfig
[FieldMember(desc = "轮胎识别:后雷达参数")] public int TireBackTwoLegSgnDir = 1;
[FieldMember(desc = "轮胎识别:后雷达参数")] public float TireBackTwoLegCenterChangeX = 0;
[FieldMember(desc = "抱夹控制pid:Kp")] public float ClampControlKp = 0.1f;
[FieldMember(desc = "抱夹控制pid:Ki")] public float ClampControlKi = 0f;
[FieldMember(desc = "抱夹控制pid:Kd")] public float ClampControlKd = 0f;
[FieldMember(desc = "抱夹控制pid:MaxI")] public float ClampControlMaxI = 0f;
[FieldMember(desc = "抱夹控制pid:Acc")] public float ClampControlSpeedAcc = 1f;
[FieldMember(desc = "抱夹控制pid:Thresh")] public float ClampControlThresh = 0.2f;
[FieldMember(desc = "抱夹控制pid:DeadZone")] public float ClampControlDeadZone = 5f;
[FieldMember(desc = "抱夹最大速度")] public float MaxClampSpeed = 1.5f;
[FieldMember(desc = "直线行走距离")] public float LineTrackDistance = 1000f;
[FieldMember(desc = "直线行走最大速度")] public float LineTrackMaxSpeed = 0.3f;
[FieldMember(desc = "直线行走Kp")] public float LineTrackKp = 0.2f;