add wust typr mpc and mutipule x

2026-03-27 03:41:42 +08:00
parent 2c64655fae
commit 7dcb53bb77
192 changed files with 29571 additions and 9 deletions
--- a/wust_vision-main/config/auto_aim.yaml
+++ b/wust_vision-main/config/auto_aim.yaml
@@ -0,0 +1,131 @@
+armor_detect_backend: tensorrt
+max_detect_armors: 11
+
+
+armor_map:
+  SENTRY: 4
+  NO1: 2
+  NO2: 3
+  NO3: 1
+  NO4: 5
+  NO5: 9
+  OUTPOST: 6
+  BASE: 7
+  UNKNOWN: -1
+
+armor_where:
+  yaw_opt:
+    mode: golden
+    golden_search_side_deg: 60
+  distance_fix_a2: 0.0
+
+armor_tracker:
+  lost_time_thres: 2.0
+  tracking_thres: 10
+  max_yaw_diff_deg: 60.0
+  max_dis_diff: 3.0
+  match_gate: 50
+  qxyz_common: [200.0, 200.0, 1.0]
+  qyaw_common: 100.0
+  qxyz_output: [10.0, 10.0, 0.5]
+  qyaw_output: 0.01
+  q_r: 0.0000001
+  q_l: 0.0000001
+  q_h: 0.0000001
+  q_outpost_dz: 0.5
+  yp_r: 2e-3
+  dis_r_front: 0.5
+  dis_r_side: 2.5
+  dis2_r_ratio: 0.1
+  yaw_r_base_front: 0.2
+  yaw_r_base_side: 0.06
+  yaw_r_log_ratio: 0.02
+  esekf_iter_num: 5
+
+
+
+auto_aim_fsm:
+  single_whole_up: 1.5 
+  single_whole_down: 1.0
+  whole_pair_up: 7.5 
+  whole_pair_down: 6.5 #1s内至少换2次板子  2pi  否则轨迹规划无意义
+  pair_center_up: 16.5
+  pair_center_down: 15.0
+  transfer_thresh: 50
+
+very_aimer:
+  fuck_test: false
+  fuck_test_thresh: 0.5
+  type: "seg" #seg or mpc
+  
+  sample_total_time: 2.0
+  
+  sample_horizon: 500
+
+  control_delay: 0.2
+  delay_enable_fire_error: 0.0035
+  
+  max_yaw_acc: 40
+  #全向yaw加速度测算37
+  max_pitch_acc: 25
+  
+
+  prediction_delay: 0.00
+  comming_angle: 60
+  leaving_angle: 20
+
+  yaw_limit_deg: 60
+  shooting_range_h: 0.12
+  shooting_range_small_w: 0.12
+  shooting_range_big_w: 0.24
+  min_enable_pitch_deg: 0.25
+  min_enable_yaw_deg: 0.25
+  base_offset:
+      yaw: -1.0
+      pitch: -3.5
+  trajectory_offset:
+    - d_max: 3
+      d_min: 0
+      h_max: 1.5
+      h_min: -1
+      pitch_off: 0
+      yaw_off: 0
+    - d_max: 4.5
+      d_min: 3
+      h_max: 1.5
+      h_min: -1
+      pitch_off: 0
+      yaw_off: 0
+    - d_max: 4.5
+      d_min: 9
+      h_max: 1.5
+      h_min: -1
+      pitch_off: 0
+      yaw_off: 0
+  #---mpc only
+  max_iter: 10
+  Q_yaw: [7e6, 0]
+  R_yaw: [3.0]
+  Q_pitch: [7e6, 0]
+  R_pitch: [3.0]
+
+
+  
+trajectory_compensator:
+  compenstator_type: resistance
+  gravity: 9.8
+  iteration_times: 20
+  resistance: 0.092
+  k1: 0.0190 #大弹丸double k1_c = 0.47; double k1 = k1_c * 1.169 * (2 * M_PI * 0.02125 * 0.02125) / 2 / 0.041;
+
+
+
+auto_exposure:
+  enable: true
+  target_brightness: 25.0
+  tolerance: 3.0
+  step_gain: 15.0
+  decay_step: 1.0
+  exposure_min: 100.0
+  exposure_max: 1500.0
+  control_interval_ms: 300