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Adjust movement parameters in task 2.5 for improved execution and increase iteration thresholds in task 3 for enhanced stability during operations.

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havoc420ubuntu 2025-05-31 17:52:29 +00:00
parent f088f626e1
commit 8bf27872b6
2 changed files with 3 additions and 3 deletions
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2
task_2_5/task_2_5.py
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@ -33,7 +33,7 @@ def run_task_2_5(Ctrl, msg, direction='left'):
no_end_reset=True,
)
go_straight(Ctrl, msg, distance=0.4, speed=0.5, observe=observe)
go_straight(Ctrl, msg, distance=0.3, speed=0.5, observe=observe)
section('任务2.5-2：第二次旋转', "移动")
def run_task_2_5_back(Ctrl, msg, direction='left'):

4
task_3/task_3.py
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@ -101,8 +101,8 @@ def pass_up_down(ctrl, msg):
stable_threshold = 8 # 连续15次检测z轴不再增加则认为已经停止
z_speed_threshold = 0.01 # z轴速度阈值，小于这个值认为已经停止爬升
climb_speed_threshold = 0.05 # 检测到开始爬坡的速度阈值
max_iterations = 200 # 最大循环次数，作为安全保障
min_iterations = 170 # 最小循环次数，作为安全保障
max_iterations = 210 # 最大循环次数，作为安全保障
min_iterations = 180 # 最小循环次数，作为安全保障
# 姿态判断参数
pitch_threshold = 0.05 # 俯仰角阈值（弧度）