模型推理移至管道末尾降舵机延迟60→16ms + 视觉Mat复用 + 端到端延迟计时 + OpenCV 4.13 + WASD遥控

2026-06-29 16:43:41 +08:00
parent 40d5cb1604
commit 017a827b18
16 changed files with 1201 additions and 709 deletions
@@ -36,12 +36,14 @@ init_pins() {
    echo 8   > "$DIR/deadband" 2>/dev/null
    echo 1.5 > "$DIR/steer_gain" 2>/dev/null
    echo 40  > "$DIR/foresee" 2>/dev/null
+    echo 0.7 > "$DIR/foresee_lost_scale" 2>/dev/null
+    echo 0.5 > "$DIR/sharp_turn_scale" 2>/dev/null
    echo 0   > "$DIR/start" 2>/dev/null

    echo 0.3  > "$DIR/cone_avoid_gain"   2>/dev/null
    echo 30   > "$DIR/cone_avoid_range"  2>/dev/null
    echo 0.5  > "$DIR/cone_speed"        2>/dev/null
-    echo 3    > "$DIR/cone_min_frames"   2>/dev/null
+    echo 1    > "$DIR/cone_min_frames"   2>/dev/null
    echo 0    > "$DIR/cone_margin"       2>/dev/null
    echo 0.80 > "$DIR/cone_thresh"       2>/dev/null
    echo 30   > "$DIR/cone_hold_frames"   2>/dev/null