84 lines
1.9 KiB
C
84 lines
1.9 KiB
C
//
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// Created by SJQ on 2024/1/26.
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//
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#ifndef WHEEL_LEGGED_GIMBAL_AUTO_AIM_H
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#define WHEEL_LEGGED_GIMBAL_AUTO_AIM_H
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//
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// Created by sph on 2024/1/21.
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//
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#include "master_process.h"
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//弹道解算
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typedef struct
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{
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float v0; //子弹射速
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float velocity[3];//目标xyz速度
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float vx; //目标相对枪口方向的速度
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float vy;
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float alpha; //目标初始航向角
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float position_xy[2];//目标xy坐标
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float z; //目标z坐标
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float fly_time; //子弹飞行时间
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float fly_time2; //子弹飞行时间平方
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float extra_delay_time ;
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float theta_0; //初始目标角度
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float theta_k; //迭代目标角度
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float dis; //目标距离
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float dis2; //目标距离平方
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float err_k; //迭代误差
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uint8_t k; //迭代次数
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float h_k; //迭代高度
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float h_r; //目标真实高度
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float cmd_yaw;
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float cmd_pitch;
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} Trajectory_Type_t;
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//整车状态
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typedef struct
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{
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float x;
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float y;
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float z;
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float yaw;
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float vx;
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float vy;
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float vz;
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float v_yaw;
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float r1;
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float r2;
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float dz;
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uint8_t armor_type;
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uint8_t armor_num;
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}Target_State_Type_t;
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//预瞄点
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typedef struct
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{
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float x;
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float y;
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float z;
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float yaw;
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}Armor_Pose_Type_t;
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typedef struct
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{
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Target_State_Type_t target_state; //整车状态
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Armor_Pose_Type_t armor_pose[4]; //四个装甲板状态
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float aim_point[3]; //预瞄点
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float delay_time; //预瞄时间差
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uint8_t suggest_fire;
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}Aim_Select_Type_t;
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void aim_armor_select(Aim_Select_Type_t *aim_sel, Trajectory_Type_t *trajectory_cal);
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float get_fly_time(float x, float vx, float v_x0);
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void get_cmd_angle(Trajectory_Type_t *trajectory_cal);
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void auto_aim(Aim_Select_Type_t *aim_sel,Trajectory_Type_t *trajectory_cal,RecievePacket_t *receive_packet);
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#endif //WHEEL_LEGGED_GIMBAL_AUTO_AIM_H
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