From 26eb4faf2fb7b37f33a204d6a35814c725221e68 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期四, 11 十二月 2025 01:04:57 +0800
Subject: [PATCH] 解决了必须坐标点重复才能稳定跟踪的问题，原因是算法里面适配之前坐标点重复的BUG，写了前视跳点和路径跳点。改成不跳点就好了。
---
STM32H743/APL/motion_control_task.c | 4 +++-
1 files changed, 3 insertions(+), 1 deletions(-)
diff --git a/STM32H743/APL/motion_control_task.c b/STM32H743/APL/motion_control_task.c
index a16239c..3baf698 100644
--- a/STM32H743/APL/motion_control_task.c
+++ b/STM32H743/APL/motion_control_task.c
@@ -680,6 +680,8 @@
float target_yaw_rate = output->turn_rate; // rad/s锛屾鍊�=宸﹁浆锛岃礋鍊�=鍙宠浆
float steering_f = 1500.0f;
+ /* 璋冭瘯LOG锛氭墦鍗拌浆鍚戞槧灏勮繃绋嬶紙浣庨锛� */
+
if (target_yaw_rate > 0.001f) // 宸﹁浆锛堟瑙掗�熷害锛�
{
steering_f = 1500.0f - target_yaw_rate / MC_CFG_STEERING_K_LEFT;
@@ -696,7 +698,7 @@
steering_f = 2000.0f;
}
}
- else // 鐩磋锛氬簲鐢ㄨ浆鍚戣ˉ鍋夸慨姝ｆ満姊板亸宸�
+ else // 鐩磋锛氬簲鐢ㄨ浆鍚戣ˉ鍋夸慨姝ｆ満姊板亸宸紙姝诲尯 卤0.001 rad/s锛�
{
steering_f = 1500.0f + (float)MC_CFG_STEERING_TRIM;
}
--
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