Update multi-vehicle sync and crab walk docs

2026-06-29 16:00:34 +08:00
parent 8b19a15fbb
commit c093fa32e6
12 changed files with 1355 additions and 102 deletions
@@ -41,4 +41,12 @@ public class VehicleSyncNotification
    [JsonProperty("SyncTh")] public float SyncTh { get; set; }
    [JsonProperty("SyncDistance")] public float SyncDistance { get; set; }
    [JsonProperty("DeltaDetectCenter")] public float DeltaDetectCenter { 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。
+    // HasIdeal=true 时各从车按各自 layout 推算 per-car 目标位姿做前馈+补偿，弧线路径不再只靠事后纠偏。
+    [JsonProperty("HasIdeal")] public bool HasIdeal { get; set; }
+    [JsonProperty("IdealX")] public float IdealX { get; set; }
+    [JsonProperty("IdealY")] public float IdealY { get; set; }
+    [JsonProperty("IdealTh")] public float IdealTh { get; set; }
 }