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Fix track target switch. #197

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Merged
YoujianWu merged 2 commits into from
May 3, 2025
Merged

Fix track target switch. #197

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ba03e54
Fix track target switch.
Rayy0527 May 2, 2025
19eafe3
Merge branch 'master' into track-target-switch
Rayy0527 May 3, 2025
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3 changes: 2 additions & 1 deletion rm_gimbal_controllers/include/rm_gimbal_controllers/bullet_solver.h
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Original file line number Diff line number Diff line change
Expand Up @@ -103,10 +103,11 @@ class BulletSolver
double output_yaw_{}, output_pitch_{};
double bullet_speed_{}, resistance_coff_{};
double fly_time_;
double switch_hysteresis_;
int shoot_beforehand_cmd_{};
int selected_armor_;
int count_;
bool track_target_;
bool track_target_ = true;
bool identified_target_change_ = true;
bool is_in_delay_before_switch_{};
bool dynamic_reconfig_initialized_{};
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12 changes: 11 additions & 1 deletion rm_gimbal_controllers/src/bullet_solver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -65,6 +65,7 @@ BulletSolver::BulletSolver(ros::NodeHandle& controller_nh)
.track_move_target_delay = getParam(controller_nh, "track_move_target_delay", 0.),
.min_fit_switch_count = getParam(controller_nh, "min_fit_switch_count", 3) };
max_track_target_vel_ = getParam(controller_nh, "max_track_target_vel", 5.0);
switch_hysteresis_ = getParam(controller_nh, "switch_hysteresis", 1.0);
config_rt_buffer_.initRT(config_);

marker_desire_.header.frame_id = "odom";
Expand Down Expand Up @@ -134,7 +135,16 @@ bool BulletSolver::solve(geometry_msgs::Point pos, geometry_msgs::Vector3 vel, d
double z = pos.z;
double max_switch_angle = config_.max_switch_angle / 180 * M_PI;
double min_switch_angle = config_.min_switch_angle / 180 * M_PI;
track_target_ = std::abs(v_yaw) < max_track_target_vel_;
if (track_target_)
{
if (std::abs(v_yaw) >= max_track_target_vel_ + switch_hysteresis_)
track_target_ = false;
}
else
{
if (std::abs(v_yaw) <= max_track_target_vel_ - switch_hysteresis_)
track_target_ = true;
}
double switch_armor_angle =
track_target_ ?
(acos(r / target_rho) - max_switch_angle +
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