双目测距方案重构与其他小修改

2026-09-10 16:16:05 +08:00
parent 3325465359
commit 538ae4c6c7
39 changed files with 2285 additions and 1444 deletions
@@ -4,7 +4,7 @@
    "control": {
        "frequency_hz": 20.0,
        "visual_stale_ms": 200,
-        "radar_stale_ms": 500,
+        "distance_stale_ms": 500,
        "attitude_stale_ms": 300
    },

@@ -36,8 +36,9 @@
        "derivative_filter_coef": 0.2,
        "approach_velocity_limit_mps": 3.0,
        "retreat_velocity_limit_mps": 1.0,
-        "no_distance_action": "hold",
-        "no_distance_approach_limit_mps": 0.5
+        "no_distance_action": "slow_approach",
+        "no_distance_approach_limit_mps": 0.5,
+        "no_distance_exit_grace_ms": 3000
    },

    "accel_limit": {