spdis/Loongson_2k0300_SmartCar
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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

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spdis
2026-06-29 16:43:41 +08:00
parent 40d5cb1604
commit 017a827b18
16 changed files with 1201 additions and 709 deletions
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src/global.cpp
+4
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@@ -24,6 +24,8 @@ void cfg_load_all()
{
g_cfg.speed = readDoubleFromFile(speed_file);
g_cfg.foresee = readDoubleFromFile(foresee_file);
g_cfg.foresee_lost_scale = readDoubleFromFile(foresee_lost_scale_file);
g_cfg.sharp_turn_scale = readDoubleFromFile(sharp_turn_scale_file);
g_cfg.zebrasee = readDoubleFromFile(zebrasee_file);
g_cfg.deadband = readDoubleFromFile(deadband_file);
g_cfg.steer_gain = readDoubleFromFile(steer_gain_file);
@@ -39,6 +41,8 @@ void cfg_load_all()
g_cfg.cone_avoid_gain = readDoubleFromFile(cone_avoid_gain_file);
g_cfg.cone_avoid_range = (int)readDoubleFromFile(cone_avoid_range_file);
g_cfg.cone_hold_frames = (int)readDoubleFromFile(cone_hold_frames_file);
g_cfg.cone_return_gain = readDoubleFromFile(cone_return_gain_file);
g_cfg.cone_return_frames = (int)readDoubleFromFile(cone_return_frames_file);
g_cfg.brake_scale = readDoubleFromFile(brake_scale_file);
g_cfg.brake_max = readDoubleFromFile(brake_max_file);