完善状态估计、车队协调与舵轮辨识日志

2026-08-24 18:39:41 +08:00
parent 0ab409cd2a
commit 95c0b19a26
40 changed files with 5983 additions and 95 deletions
@@ -64,7 +64,10 @@ namespace MultiWheelC.StateEstimation
                    config.ParkingDetourMaximumAutomaticFrameShift,
                    AngleMath.DegreesToRadians(
                        config
-                            .ParkingDetourMaximumAutomaticHeadingShiftDegrees));
+                            .ParkingDetourMaximumAutomaticHeadingShiftDegrees),
+                    config.ParkingDetourMaximumCachedFrameAgeSeconds,
+                    config
+                        .ParkingDetourLocalizationQualityConfirmationFrames);

            return new WheelFeedbackVehicleStateProvider(
                detourStateProvider,