From 346cc7d685283df529aadbcf9c156de040ce44f9 Mon Sep 17 00:00:00 2001
From: yincheng.zhong <634916154@qq.com>
Date: 星期一, 24 十一月 2025 09:51:48 +0800
Subject: [PATCH] 仿真跑起来了，但是起点转向不太对。
---
python/hitl/simulator.py | 8 ++++++++
1 files changed, 8 insertions(+), 0 deletions(-)
diff --git a/python/hitl/simulator.py b/python/hitl/simulator.py
index b209cb0..983eb58 100644
--- a/python/hitl/simulator.py
+++ b/python/hitl/simulator.py
@@ -351,6 +351,7 @@
gps_time_s=_ascii_timestamp_to_seconds(ctrl.timestamp_ms),
source_rank=1,
)
+ self._apply_ascii_control(ctrl)
handled = True
pose = decode_pose_status(msg)
if pose and self.on_pose_status:
@@ -469,6 +470,13 @@
# ------------------------------------------------------------------ #
# 鏃ュ織宸ュ叿
# ------------------------------------------------------------------ #
+ def _apply_ascii_control(self, ctrl: ControlStatus):
+ with self._state_lock:
+ self._target_linear = ctrl.forward_mps
+ self._target_angular = ctrl.turn_rate
+ if self.on_control:
+ self.on_control(ctrl.forward_mps, ctrl.turn_rate)
+
def _log_ascii(
self,
prefix: str,
--
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