Fix fleet in-place rotate sync

2026-07-02 14:38:00 +08:00
parent d4d2b1a052
commit bf83bdb4b3
5 changed files with 367 additions and 39 deletions
@@ -47,9 +47,22 @@ public class VehicleSyncNotification
    [JsonProperty("FleetStopSourceCar")] public int FleetStopSourceCar { get; set; }
    [JsonProperty("AutoEnabled")] public bool AutoEnabled { get; set; }
    [JsonProperty("ManualEnabled")] public bool ManualEnabled { get; set; }
+    [JsonProperty("UseDetourCorrection")] public bool UseDetourCorrection { get; set; }
    [JsonProperty("SyncTh")] public float SyncTh { get; set; }
    [JsonProperty("SyncDistance")] public float SyncDistance { get; set; }
    [JsonProperty("DeltaDetectCenter")] public float DeltaDetectCenter { get; set; }
+    // 原地旋转纠偏参数由主车广播，从车运行时使用同一套增益/限幅，避免主从补偿强度不一致。
+    [JsonProperty("RotateParamsValid")] public bool RotateParamsValid { get; set; }
+    [JsonProperty("RotateActiveOmega")] public float RotateActiveOmega { get; set; }
+    [JsonProperty("RotateCompXyFac")] public float RotateCompXyFac { get; set; }
+    [JsonProperty("RotateCompXyIFac")] public float RotateCompXyIFac { get; set; }
+    [JsonProperty("RotateCompXyMax")] public float RotateCompXyMax { get; set; }
+    [JsonProperty("RotateCompThFac")] public float RotateCompThFac { get; set; }
+    [JsonProperty("RotateCompThIFac")] public float RotateCompThIFac { get; set; }
+    [JsonProperty("RotateCompThMax")] public float RotateCompThMax { get; set; }
+    [JsonProperty("RotateCompTangentFrac")] public float RotateCompTangentFrac { get; set; }
+    [JsonProperty("RotateStartWheelAlignDeg")] public float RotateStartWheelAlignDeg { get; set; }
+    [JsonProperty("RotateActiveWheelAlignDeg")] public float RotateActiveWheelAlignDeg { get; set; }
    // F: 单调递增序列号，从车据此丢弃乱序到达的旧 notify 包。
    [JsonProperty("Seq")] public long Seq { get; set; }
    // D: 自动模式下主车路径控制器算出的车队中心理想位姿（世界系），由 idealPos/idealAngle 透传而来。