替换 Mild v12 模型 + 同事编码器刹车红绿灯状态机合并

lib/global.h

@@ -20,6 +20,17 @@ const std::string steer_gain_file = "./steer_gain";
 const std::string center_bias_file = "./center_bias";
 const std::string debug_file = "./debug";
 
+const std::string cone_avoid_gain_file  = "./cone_avoid_gain";
+const std::string cone_avoid_range_file = "./cone_avoid_range";
+const std::string cone_speed_file       = "./cone_speed";
+const std::string cone_min_frames_file  = "./cone_min_frames";
+const std::string cone_margin_file      = "./cone_margin";
+const std::string cone_thresh_file      = "./cone_thresh";
+const std::string cone_hold_frames_file  = "./cone_hold_frames";
+
+const std::string brake_scale_file = "./brake_scale";
+const std::string brake_max_file   = "./brake_max";
+
 double readDoubleFromFile(const std::string &filename);
 bool   readFlag(const std::string &filename);
 void   cfg_load_all();
@@ -35,6 +46,17 @@ struct CfgCache {
     int    start       = 0;      // 1=启动 0=停止
     int    showImg     = 0;      // LCD 预览开关
     int    debug       = 0;      // debug 模式
+
+    double cone_avoid_gain  = 0.3;   // 锥桶中线变形推离量 (归一化)
+    int    cone_avoid_range = 30;    // 变形斜坡陡峭度
+    double cone_speed       = 0.5;   // 锥桶触发时速度倍率
+    int    cone_min_frames  = 3;     // 连续确认帧数
+    int    cone_margin      = 0;     // 0=中心点 1=框边缘
+    double cone_thresh      = 0.80;  // 锥桶置信度阈值
+    int    cone_hold_frames  = 30;    // 锥桶消失后保持变形的帧数
+
+    double brake_scale     = 10;    // 速度(pps) → 刹车占空比(ns) 缩放系数
+    int    brake_max       = 10000; // 最大刹车占空比 (ns)
 };
 extern CfgCache g_cfg;