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_buff.yaml
+++ b/wust_vision-main/config/auto_buff.yaml
@@ -0,0 +1,76 @@
+rune_detector:
+  rune_center_min_area: 10
+  rune_center_max_area: 2000
+  rune_center_1x1ratio_tol: 0.7
+  rune_center_fill_ratio_min: 0.3
+
+  rune_target_min_area: 100
+  rune_target_max_area: 3000
+  rune_target_max_square_ratio: 1.3
+  rune_target_cluster_radius: 70
+
+  bin_threshold: 50
+  color_diff_threshold: 40
+
+
+rune_where:
+  roll_opt:
+    mode: golden
+    golden_search_side_deg: 60
+
+rune_tracker:
+  lost_time_thres: 2.0
+  tracking_thres: 5
+  max_dis_diff: 1.0
+  match_gate: 15.0
+  esekf_iter_num: 2
+  q_roll: 10.0
+  q_xyz: 0.5
+  q_yaw: 0.5
+  yp_r: 0.01
+  dis_r: 0.05
+  yaw_r: 0.1
+  roll_r: 0.2
+  big_window_sec: 2.0
+
+aimer:
+  prediction_delay: -0.00
+  shooting_range_h: 0.1
+  shooting_range_w: 0.1
+  min_enable_pitch_deg: 0.25
+  min_enable_yaw_deg: 0.25
+  base_offset:
+      yaw: -3.0
+      pitch: -0.0
+  trajectory_offset:
+    - d_max: 9
+      d_min: 0
+      h_max: 1.5
+      h_min: -1
+      pitch_off: -0
+      yaw_off: -0
+    - d_max: 10
+      d_min: 9
+      h_max: 0.4
+      h_min: -1
+      pitch_off: -0
+      yaw_off: 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: false
+  target_brightness: 15.0
+  tolerance: 3.0
+  step_gain: 15.0
+  decay_step: 1.0
+  exposure_min: 100.0
+  exposure_max: 2500.0
+  control_interval_ms: 300