# 运控参数标定默认回路配置。
# 该文件只定义每类底盘推荐标定哪些控制回路，具体算法仍由算法工程师实现。

schema_version: 1

profiles:
  differential:
    description: 差速轮底盘
    recommended_roles:
      - control_axis: combined
        controller_algorithm: pure_pursuit
        control_role: path_tracking_outer_loop
        purpose: 路径跟踪外环，生成线速度和角速度参考。
      - control_axis: longitudinal_control
        controller_algorithm: pid
        control_role: speed_loop
        loop_name: speed
        purpose: 整车线速度回路。
      - control_axis: lateral_control
        controller_algorithm: pid
        control_role: yaw_rate_loop
        loop_name: yaw_rate
        purpose: 角速度回路。
      - control_axis: longitudinal_control
        controller_algorithm: pid
        control_role: wheel_speed_inner_loop
        loop_name: left_right_wheel_speed
        purpose: 左右轮速度内环。

  single_steer_wheel:
    description: 单舵轮底盘
    recommended_roles:
      - control_axis: combined
        controller_algorithm: pure_pursuit
        control_role: path_tracking_outer_loop
        purpose: 路径跟踪外环，生成目标速度和目标舵角。
      - control_axis: longitudinal_control
        controller_algorithm: pid
        control_role: speed_loop
        loop_name: speed
        purpose: 驱动轮速度或整车速度回路。
      - control_axis: lateral_control
        controller_algorithm: pid
        control_role: steering_angle_inner_loop
        loop_name: steering_angle
        purpose: 舵角位置内环。

  multi_steer_wheel:
    description: 多舵轮底盘
    recommended_roles:
      - control_axis: combined
        controller_algorithm: mpc
        control_role: path_tracking_outer_loop
        purpose: 整车路径跟踪外环，生成整车速度、角速度或模块目标。
      - control_axis: longitudinal_control
        controller_algorithm: pid
        control_role: wheel_speed_inner_loop
        loop_name: module_wheel_speed
        purpose: 各驱动轮速度内环。
      - control_axis: lateral_control
        controller_algorithm: pid
        control_role: module_steering_inner_loop
        loop_name: module_steering_angle
        purpose: 各舵轮模块角度内环。

  ackermann:
    description: 阿克曼底盘
    recommended_roles:
      - control_axis: combined
        controller_algorithm: pure_pursuit
        control_role: path_tracking_outer_loop
        purpose: 路径跟踪外环，生成目标曲率或前轮转角。
      - control_axis: longitudinal_control
        controller_algorithm: pid
        control_role: speed_loop
        loop_name: speed
        purpose: 纵向速度回路。
      - control_axis: lateral_control
        controller_algorithm: pid
        control_role: steering_angle_inner_loop
        loop_name: steering_angle
        purpose: 转角执行器内环。
