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完善状态估计、车队协调与舵轮辨识日志

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yuxiang.shen
2026-08-24 18:39:41 +08:00
parent 0ab409cd2a
commit 95c0b19a26
40 changed files with 5983 additions and 95 deletions
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MedullaAdapter/DiverCartDefinition.cs
+43 -1
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@@ -66,7 +66,8 @@ namespace MedullaAdapter
#region 初始参数
[AsInitParam(desc = "差速转舵目标角速度前馈增益")]
public float DiffSteerRateFeedforwardGain = 0.9f;
// public float DiffSteerRateFeedforwardGain = 0.9f;
public float DiffSteerRateFeedforwardGain = 0f;
[AsInitParam(desc = "差速舵轮左右轮间距，单位mm")]
public float DiffSteerWheelDistanceMillimeters = 85f;
@@ -124,6 +125,47 @@ namespace MedullaAdapter
public bool WheelSpeedDiagnosticEnabled;
[IOObjectMonitor(desc = "轮速诊断记录状态")]
public string WheelSpeedDiagnosticStatus = "未启动";
// M层辨识日志：以下字段只保存控制和反馈事件的单调时钟快照，
// 不参与底盘控制、限幅或模式切换。
internal long DiffSteerControlTimestamp;
internal long DiffSteerControlSequence;
internal long WheelCommandTimestamp;
internal long WheelCommandSequence;
internal float SentSpeedLFL;
internal float SentSpeedLFR;
internal float SentSpeedLRL;
internal float SentSpeedLRR;
internal float SentSpeedRFL;
internal float SentSpeedRFR;
internal float SentSpeedRRL;
internal float SentSpeedRRR;
internal bool WheelCommandLimitedLFL;
internal bool WheelCommandLimitedLFR;
internal bool WheelCommandLimitedLRL;
internal bool WheelCommandLimitedLRR;
internal bool WheelCommandLimitedRFL;
internal bool WheelCommandLimitedRFR;
internal bool WheelCommandLimitedRRL;
internal bool WheelCommandLimitedRRR;
internal bool WheelCommandSuppressed;
internal float DiffSteerTargetRateLeftFrontDegreesPerSecond;
internal float DiffSteerTargetRateLeftRearDegreesPerSecond;
internal float DiffSteerTargetRateRightFrontDegreesPerSecond;
internal float DiffSteerTargetRateRightRearDegreesPerSecond;
internal float DiffSteerFeedforwardDeltaTimeMilliseconds;
internal bool DiffSteerFeedforwardLimitedLeftFront;
internal bool DiffSteerFeedforwardLimitedLeftRear;
internal bool DiffSteerFeedforwardLimitedRightFront;
internal bool DiffSteerFeedforwardLimitedRightRear;
internal long ActualThLeftFrontTimestamp;
internal long ActualThLeftFrontSequence;
internal long ActualThLeftRearTimestamp;
internal long ActualThLeftRearSequence;
internal long ActualThRightFrontTimestamp;
internal long ActualThRightFrontSequence;
internal long ActualThRightRearTimestamp;
internal long ActualThRightRearSequence;
[IOObjectMonitor(desc = "左前左驱动器远程帧701")] public byte LFLRemoteCode = 0;
[IOObjectMonitor(desc = "左前右驱动器远程帧702")] public byte LFRRemoteCode = 0;
[IOObjectMonitor(desc = "右前左驱动器远程帧703")] public byte RFLRemoteCode = 0;