spdis/Loongson_2k0300_SmartCar
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模型每类阈值+配置热重载+雷达纯距离触发+速度min不叠加+弯道参数化

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spdis
2026-06-21 14:15:53 +08:00
parent 95a46c130d
commit 40d5cb1604
11 changed files with 234 additions and 147 deletions
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src/global.cpp
+7
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@@ -36,11 +36,18 @@ void cfg_load_all()
g_cfg.cone_min_frames = (int)readDoubleFromFile(cone_min_frames_file);
g_cfg.cone_margin = (int)readDoubleFromFile(cone_margin_file);
g_cfg.cone_thresh = readDoubleFromFile(cone_thresh_file);
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.brake_scale = readDoubleFromFile(brake_scale_file);
g_cfg.brake_max = readDoubleFromFile(brake_max_file);
g_cfg.curve_slope = readDoubleFromFile(curve_slope_file);
g_cfg.curve_min = readDoubleFromFile(curve_min_file);
g_cfg.lidar_thresh = (int)readDoubleFromFile(lidar_thresh_file);
g_cfg.lidar_pre = (int)readDoubleFromFile(lidar_pre_file);
g_cfg.lidar_near = (int)readDoubleFromFile(lidar_near_file);
g_cfg.lidar_far = (int)readDoubleFromFile(lidar_far_file);
g_cfg.lidar_near_start = (int)readDoubleFromFile(lidar_near_start_file);