From f9077ccee2055c46b57bdff1d7d582f82a585d1e Mon Sep 17 00:00:00 2001
From: shmily744 <1527550984@qq.com>
Date: Mon, 22 Jan 2024 16:59:25 +0800
Subject: [PATCH] =?UTF-8?q?=E6=B7=BB=E5=8A=A0auto=5Faim.h?=
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---
 modules/auto_aim/auto_aim.h | 77 +++++++++++++++++++++++++++++++++++++
 1 file changed, 77 insertions(+)
 create mode 100644 modules/auto_aim/auto_aim.h

diff --git a/modules/auto_aim/auto_aim.h b/modules/auto_aim/auto_aim.h
new file mode 100644
index 0000000..040d362
--- /dev/null
+++ b/modules/auto_aim/auto_aim.h
@@ -0,0 +1,77 @@
+//
+// Created by sph on 2024/1/21.
+//
+
+#ifndef BASIC_FRAMEWORK_AUTO_AIM_H
+#define BASIC_FRAMEWORK_AUTO_AIM_H
+
+#include "master_process.h"
+//弹道解算
+typedef  struct
+{
+    float v0;        //子弹射速
+    float velocity[3];//目标xyz速度
+    float vx;         //目标相对枪口方向的速度
+    float vy;
+    float alpha;      //目标初始航向角
+    float position_xy[2];//目标xy坐标
+    float z;         //目标z坐标
+    float fly_time;  //子弹飞行时间
+    float fly_time2;  //子弹飞行时间平方
+    float extra_delay_time ;
+    float theta_0;   //初始目标角度
+    float theta_k;   //迭代目标角度
+    float dis;       //目标距离
+    float dis2;       //目标距离平方
+    float err_k;      //迭代误差
+    uint8_t k;      //迭代次数
+    float h_k;       //迭代高度
+    float h_r;       //目标真实高度
+
+    float cmd_yaw;
+    float cmd_pitch;
+} Trajectory_Type_t;
+
+//整车状态
+typedef struct
+{
+    float x;
+    float y;
+    float z;
+    float yaw;
+    float vx;
+    float vy;
+    float vz;
+    float v_yaw;
+    float r1;
+    float r2;
+    float dz;
+    uint8_t armor_type;
+    uint8_t armor_num;
+}Target_State_Type_t;
+
+//预瞄点
+typedef struct
+{
+    float x;
+    float y;
+    float z;
+    float yaw;
+}Armor_Pose_Type_t;
+
+typedef struct
+{
+    Target_State_Type_t target_state; //整车状态
+    Armor_Pose_Type_t armor_pose[4]; //四个装甲板状态
+    float aim_point[3];                //预瞄点
+    float delay_time; //预瞄时间差
+    uint8_t suggest_fire;
+}Aim_Select_Type_t;
+
+
+void aim_armor_select(Aim_Select_Type_t *aim_sel, Trajectory_Type_t *trajectory_cal);
+float get_fly_time(float x, float vx, float v_x0);
+void get_cmd_angle(Trajectory_Type_t *trajectory_cal);
+void auto_aim(Aim_Select_Type_t *aim_sel,Trajectory_Type_t *trajectory_cal,RecievePacket_t *receive_packet);
+
+#endif //BASIC_FRAMEWORK_AUTO_AIM_H