From eff4420f5f3d40d9214c9233e13653f70fc929bb Mon Sep 17 00:00:00 2001
From: Marine_zxy <1423266892@qq.com>
Date: Wed, 27 Mar 2024 21:56:43 +0800
Subject: [PATCH 1/3] =?UTF-8?q?=E5=AE=8C=E5=96=84=E5=93=A8=E5=85=B5?=
 =?UTF-8?q?=E6=8E=A7=E5=88=B6=E9=80=BB=E8=BE=91,=E5=A2=9E=E5=8A=A0ai=5Foff?=
 =?UTF-8?q?line?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 src/component/comp_cmd.hpp |  6 +++++-
 src/device/ai/dev_ai.cpp   | 41 ++++++++++++++++++++------------------
 src/device/ai/dev_ai.hpp   |  9 +++++++--
 src/robot/sentry/robot.cpp | 18 ++++++++++++-----
 4 files changed, 47 insertions(+), 27 deletions(-)

diff --git a/src/component/comp_cmd.hpp b/src/component/comp_cmd.hpp
index 47b9b989..7df83361 100644
--- a/src/component/comp_cmd.hpp
+++ b/src/component/comp_cmd.hpp
@@ -25,7 +25,11 @@ class CMD {
   typedef Type::Vector3 ChassisCMD;
 
   typedef struct {
-    Component::Type::Eulr eulr;
+    struct {
+      float yaw; /* 偏航角（Yaw angle） */
+      float pit; /* 俯仰角（Pitch angle） */
+      float rol; /* 翻滚角（Roll angle） */
+    } eulr;
     GimbalCommandMode mode;
   } GimbalCMD;
 
diff --git a/src/device/ai/dev_ai.cpp b/src/device/ai/dev_ai.cpp
index 2cf8d72a..513d296a 100644
--- a/src/device/ai/dev_ai.cpp
+++ b/src/device/ai/dev_ai.cpp
@@ -157,32 +157,35 @@ bool AI::PackCMD() {
       } else {
         this->auto_aim_enable_ = true;
       }
+    } else {
+      this->event_.Active(AI_OFFLINE);
     }
 
-    /*AI云台数据无效，巡逻模式 */
-    if (!this->auto_aim_enable_) {
-      this->event_.Active(AI_AUTOPATROL);
-    }
+    if (this->cmd_.online) {
+      /*AI云台数据无效，巡逻模式 */
+      if (!this->auto_aim_enable_) {
+        this->event_.Active(AI_AUTOPATROL);
+      }
 
-    /* AI转向 */
-    /* 自瞄优先级高于转向 */
-    if (!this->auto_aim_enable_ && this->cmd_.chassis.z != 0) {
-      /* 将底盘wz复制给yaw,实现AI间接控制云台进而控制底盘 */
-      this->cmd_.gimbal.eulr.yaw = this->cmd_.chassis.z;
-      this->cmd_.gimbal.mode = Component::CMD::GIMBAL_RELATIVE_CTRL;
-      this->event_.Active(AI_TURN);
-    }
+      /* AI转向 */
+      /* 自瞄优先级高于转向 */
+      if (!this->auto_aim_enable_ && this->cmd_.chassis.z != 0) {
+        /* 将底盘wz复制给yaw,实现AI间接控制云台进而控制底盘 */
+        this->cmd_.gimbal.eulr.yaw = this->cmd_.chassis.z;
+        this->cmd_.gimbal.mode = Component::CMD::GIMBAL_RELATIVE_CTRL;
+        this->event_.Active(AI_TURN);
+      }
 
-    /*AI云台数据有效，自动瞄准模式 */
-    if (this->auto_aim_enable_) {
-      this->cmd_.gimbal.mode = Component::CMD::GIMBAL_ABSOLUTE_CTRL;
-      this->event_.Active(AI_FIND_TARGET);
-      if (notice_ == AI_NOTICE_FIRE) {
-        this->event_.Active(AI_FIRE_COMMAND); /* AI开火发弹指令 */
+      /*AI云台数据有效，自动瞄准模式 */
+      if (this->auto_aim_enable_) {
+        this->cmd_.gimbal.mode = Component::CMD::GIMBAL_ABSOLUTE_CTRL;
+        this->event_.Active(AI_FIND_TARGET);
+        if (notice_ == AI_NOTICE_FIRE) {
+          this->event_.Active(AI_FIRE_COMMAND); /* AI开火发弹指令 */
+        }
       }
     }
   }
-
   memcpy(&(this->last_eulr_), &(this->cmd_.gimbal.eulr),
          sizeof(this->cmd_.gimbal.eulr));
 
diff --git a/src/device/ai/dev_ai.hpp b/src/device/ai/dev_ai.hpp
index 07b17a5f..e0b85599 100644
--- a/src/device/ai/dev_ai.hpp
+++ b/src/device/ai/dev_ai.hpp
@@ -32,7 +32,8 @@ class AI {
   } RefForAI;
 
   typedef enum {
-    AI_FIND_TARGET = 128,
+    AI_OFFLINE = 128,
+    AI_FIND_TARGET,
     AI_AUTOPATROL,
     AI_TURN,
     AI_FIRE_COMMAND,
@@ -84,7 +85,11 @@ class AI {
 
   Component::CMD::Data cmd_{};
 
-  Component::Type::Eulr last_eulr_;
+  struct {
+    float yaw; /* 偏航角（Yaw angle） */
+    float pit; /* 俯仰角（Pitch angle） */
+    float rol; /* 翻滚角（Roll angle） */
+  } last_eulr_;
 
   Component::Type::Quaternion quat_{};
   Device::Referee::Data raw_ref_{};
diff --git a/src/robot/sentry/robot.cpp b/src/robot/sentry/robot.cpp
index 4a9e64cf..33306fd6 100644
--- a/src/robot/sentry/robot.cpp
+++ b/src/robot/sentry/robot.cpp
@@ -33,23 +33,27 @@ Robot::Sentry::Param param = {
       },
       Component::CMD::EventMapItem{
         Device::DR16::DR16_SW_L_POS_MID,/* 模拟找到目标模式，云台绝对 */
-        Module::RMChassis::SET_MODE_ROTOR,
+        Module::RMChassis::SET_MODE_FOLLOW,
       },
       Component::CMD::EventMapItem{
         Device::DR16::DR16_SW_L_POS_BOT,/* 模拟未找到目标，巡逻模式 */
         Module::RMChassis::SET_MODE_ROTOR,
       },
+      Component::CMD::EventMapItem{
+        Device::AI::AI_OFFLINE,
+        Module::RMChassis::SET_MODE_RELAX
+      },
       Component::CMD::EventMapItem{
         Device::AI::AI_FIND_TARGET,
-        Module::RMChassis::SET_MODE_ROTOR
+        Module::RMChassis::SET_MODE_RELAX
       },
       Component::CMD::EventMapItem{
         Device::AI::AI_AUTOPATROL,
-        Module::RMChassis::SET_MODE_ROTOR
+        Module::RMChassis::SET_MODE_RELAX
       },
       Component::CMD::EventMapItem{
         Device::AI::AI_TURN,
-        Module::RMChassis::SET_MODE_ROTOR
+        Module::RMChassis::SET_MODE_RELAX
       }
     },
 
@@ -270,7 +274,11 @@ Robot::Sentry::Param param = {
       },
       Component::CMD::EventMapItem{
         Device::DR16::DR16_SW_L_POS_BOT,/* 模拟未找到目标，巡逻模式 */
-        Module::Gimbal::SET_AUTOPATROL
+        Module::Gimbal::SET_MODE_ABSOLUTE
+      },
+      Component::CMD::EventMapItem{
+        Device::AI::AI_OFFLINE,
+        Module::Gimbal::SET_MODE_RELAX
       },
       Component::CMD::EventMapItem{
         Device::AI::AI_FIND_TARGET,
-- 
Gitee


From fbadc020d5ada775973293d565ec505ec3ca1720 Mon Sep 17 00:00:00 2001
From: Marine_zxy <1423266892@qq.com>
Date: Sun, 31 Mar 2024 22:41:04 +0800
Subject: [PATCH 2/3] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E5=93=A8=E5=85=B5?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 src/component/comp_cmd.cpp           |  2 +-
 src/component/comp_cmd.hpp           |  4 +-
 src/device/ai/dev_ai.cpp             | 55 +++++++++++-----------------
 src/device/ai/dev_ai.hpp             |  2 -
 src/module/chassis/mod_chassis.cpp   |  2 +-
 src/module/gimbal/mod_gimbal.cpp     | 23 +++++++-----
 src/module/gimbal/mod_gimbal.hpp     |  5 ++-
 src/module/launcher/mod_launcher.cpp | 12 ++++--
 8 files changed, 52 insertions(+), 53 deletions(-)

diff --git a/src/component/comp_cmd.cpp b/src/component/comp_cmd.cpp
index 29edad79..54144675 100644
--- a/src/component/comp_cmd.cpp
+++ b/src/component/comp_cmd.cpp
@@ -45,7 +45,7 @@ CMD::CMD(Mode mode)
     if (!cmd->data_[CTRL_SOURCE_RC].online && cmd->online_) {
       cmd->event_.Active(CMD_EVENT_LOST_CTRL);
       cmd->online_ = false;
-    } else {
+    } else if (cmd->data_[CTRL_SOURCE_RC].online) {
       cmd->online_ = true;
     }
 
diff --git a/src/component/comp_cmd.hpp b/src/component/comp_cmd.hpp
index 7df83361..b96c9c6d 100644
--- a/src/component/comp_cmd.hpp
+++ b/src/component/comp_cmd.hpp
@@ -100,7 +100,9 @@ class CMD {
   static void SetCtrlSource(ControlSource source) {
     self_->ctrl_source_ = source;
   }
-  static uint8_t GetCtrlMode() { return self_->mode_; }
+  static ControlSource GetCtrlSource() { return self_->ctrl_source_; }
+
+  static bool Online() { return self_->online_; }
 
  private:
   bool online_ = false;
diff --git a/src/device/ai/dev_ai.cpp b/src/device/ai/dev_ai.cpp
index 513d296a..4e2fb2a8 100644
--- a/src/device/ai/dev_ai.cpp
+++ b/src/device/ai/dev_ai.cpp
@@ -148,50 +148,37 @@ bool AI::PackCMD() {
 
   this->notice_ = this->from_host_.data.notice;
 
-  /* 控制权在AI */
-  if (Component::CMD::GetCtrlMode() == Component::CMD::CMD_AUTO_CTRL) {
-    if (this->cmd_.online) {
-      if (this->last_eulr_.yaw == this->cmd_.gimbal.eulr.yaw &&
-          this->last_eulr_.pit == this->cmd_.gimbal.eulr.pit) {
-        this->auto_aim_enable_ = false;
-      } else {
-        this->auto_aim_enable_ = true;
-      }
-    } else {
-      this->event_.Active(AI_OFFLINE);
-    }
+  memcpy(&(this->last_eulr_), &(this->cmd_.gimbal.eulr),
+         sizeof(this->cmd_.gimbal.eulr));
 
-    if (this->cmd_.online) {
-      /*AI云台数据无效，巡逻模式 */
-      if (!this->auto_aim_enable_) {
-        this->event_.Active(AI_AUTOPATROL);
-      }
+  this->cmd_.ctrl_source = Component::CMD::CTRL_SOURCE_AI;
 
-      /* AI转向 */
-      /* 自瞄优先级高于转向 */
-      if (!this->auto_aim_enable_ && this->cmd_.chassis.z != 0) {
-        /* 将底盘wz复制给yaw,实现AI间接控制云台进而控制底盘 */
-        this->cmd_.gimbal.eulr.yaw = this->cmd_.chassis.z;
-        this->cmd_.gimbal.mode = Component::CMD::GIMBAL_RELATIVE_CTRL;
-        this->event_.Active(AI_TURN);
-      }
+  this->cmd_tp_.Publish(this->cmd_);
 
-      /*AI云台数据有效，自动瞄准模式 */
-      if (this->auto_aim_enable_) {
+  if (!Component::CMD::Online()) {
+    return false;
+  }
+
+  /* 控制权在AI */
+  if (Component::CMD::GetCtrlSource() == Component::CMD::CTRL_SOURCE_AI) {
+    if (this->cmd_.online) {
+      if (this->notice_ == AI_NOTICE_AUTO_AIM) {
         this->cmd_.gimbal.mode = Component::CMD::GIMBAL_ABSOLUTE_CTRL;
         this->event_.Active(AI_FIND_TARGET);
-        if (notice_ == AI_NOTICE_FIRE) {
-          this->event_.Active(AI_FIRE_COMMAND); /* AI开火发弹指令 */
-        }
+      } else if (this->notice_ == AI_NOTICE_FIRE) {
+        this->cmd_.gimbal.mode = Component::CMD::GIMBAL_ABSOLUTE_CTRL;
+        this->event_.Active(AI_FIND_TARGET);
+        this->event_.Active(AI_FIRE_COMMAND);
+      } else {
+        this->event_.Active(AI_AUTOPATROL);
       }
+    } else {
+      this->event_.Active(AI_OFFLINE);
     }
   }
-  memcpy(&(this->last_eulr_), &(this->cmd_.gimbal.eulr),
-         sizeof(this->cmd_.gimbal.eulr));
 
-  this->cmd_.ctrl_source = Component::CMD::CTRL_SOURCE_AI;
+  this->notice_ = 0;
 
-  this->cmd_tp_.Publish(this->cmd_);
   return true;
 }
 
diff --git a/src/device/ai/dev_ai.hpp b/src/device/ai/dev_ai.hpp
index e0b85599..bdbc56a6 100644
--- a/src/device/ai/dev_ai.hpp
+++ b/src/device/ai/dev_ai.hpp
@@ -64,8 +64,6 @@ class AI {
 
   Protocol_DownPackage_t from_host_{};
 
-  bool auto_aim_enable_;
-
   uint8_t notice_;
 
   struct {
diff --git a/src/module/chassis/mod_chassis.cpp b/src/module/chassis/mod_chassis.cpp
index 74fb3e07..524a4abb 100644
--- a/src/module/chassis/mod_chassis.cpp
+++ b/src/module/chassis/mod_chassis.cpp
@@ -214,7 +214,7 @@ void Chassis<Motor, MotorParam>::Control() {
       if (cap_.online_) {
         percentage = cap_.percentage_;
       } else if (ref_.status == Device::Referee::RUNNING) {
-        percentage = this->ref_.chassis_pwr_buff / 30.0f;
+        percentage = this->ref_.chassis_pwr_buff / 60.0f;
       } else {
         percentage = 1.0f;
       }
diff --git a/src/module/gimbal/mod_gimbal.cpp b/src/module/gimbal/mod_gimbal.cpp
index 9ac70ee2..f715cbdf 100644
--- a/src/module/gimbal/mod_gimbal.cpp
+++ b/src/module/gimbal/mod_gimbal.cpp
@@ -36,9 +36,6 @@ Gimbal::Gimbal(Param& param, float control_freq)
       case SET_AUTOPATROL:
         gimbal->SetMode(static_cast<Mode>(AUTOPATROL));
         break;
-      case SET_AI_TURN:
-        gimbal->SetMode(static_cast<Mode>(TURN));
-        break;
     }
     gimbal->ctrl_lock_.Post();
   };
@@ -87,13 +84,15 @@ void Gimbal::UpdateFeedback() {
   switch (this->mode_) {
     case RELAX:
     case ABSOLUTE:
-    case TURN:
       this->yaw_ = this->yaw_motor_.GetAngle() - this->param_.mech_zero.yaw;
       break;
     case AUTOPATROL:
       this->yaw_ = this->yaw_motor_.GetAngle() - this->param_.mech_zero.yaw -
                    this->param_.patrol_range *
-                       sin(this->param_.patrol_omega * bsp_time_get_ms());
+                       sinf(this->param_.patrol_omega *
+                            static_cast<float>(bsp_time_get_ms() -
+                                               autopatrol_start_time_) /
+                            1000.0f);
 
       break;
   }
@@ -144,7 +143,6 @@ void Gimbal::Control() {
       this->pit_motor_.Relax();
       break;
     case ABSOLUTE:
-    case TURN:
       /* Yaw轴角速度环参数计算 */
       yaw_out = this->yaw_actuator_.Calculate(
           this->setpoint_.eulr_.yaw, this->gyro_.z, this->eulr_.yaw, this->dt_);
@@ -159,15 +157,17 @@ void Gimbal::Control() {
 
     case AUTOPATROL:
       /* 以sin变化左右摆头 */
-      this->setpoint_.eulr_.yaw = this->eulr_.yaw; /* 巡逻中间值 */
       autopatrol_yaw = this->setpoint_.eulr_.yaw +
                        this->param_.patrol_range *
-                           sin(this->param_.patrol_omega * bsp_time_get_ms());
+                           sinf(this->param_.patrol_omega *
+                                static_cast<float>(bsp_time_get_ms() -
+                                                   autopatrol_start_time_) /
+                                1000.0f);
 
       yaw_out = this->yaw_actuator_.Calculate(autopatrol_yaw, this->gyro_.z,
                                               this->eulr_.yaw, this->dt_);
       pit_out = this->pit_actuator_.Calculate(
-          this->setpoint_.eulr_.pit, this->gyro_.x, this->eulr_.pit, this->dt_);
+          this->param_.patrol_hight, this->gyro_.x, this->eulr_.pit, this->dt_);
 
       this->yaw_motor_.Control(yaw_out);
       this->pit_motor_.Control(pit_out);
@@ -191,6 +191,11 @@ void Gimbal::SetMode(Mode mode) {
       this->setpoint_.eulr_.yaw = this->eulr_.yaw;
     }
   }
+
+  if (mode == AUTOPATROL) {
+    autopatrol_start_time_ = bsp_time_get_ms();
+  }
+
   this->mode_ = mode;
 }
 
diff --git a/src/module/gimbal/mod_gimbal.hpp b/src/module/gimbal/mod_gimbal.hpp
index c78621be..be0abefd 100644
--- a/src/module/gimbal/mod_gimbal.hpp
+++ b/src/module/gimbal/mod_gimbal.hpp
@@ -22,7 +22,6 @@ class Gimbal {
     RELAX, /* 放松模式，电机不输出。一般情况云台初始化之后的模式 */
     ABSOLUTE,   /* 绝对坐标系控制，控制在空间内的绝对姿态 */
     AUTOPATROL, /* 自动巡逻模式，云台yaw轴按sin曲线进行扫描 */
-    TURN,       /* AI转弯模式，采用相对控制 */
   } Mode;
 
   enum {
@@ -39,7 +38,6 @@ class Gimbal {
     START_AUTO_AIM,
     STOP_AUTO_AIM,
     SET_AUTOPATROL,
-    SET_AI_TURN,
   } GimbalEvent;
 
   typedef struct {
@@ -56,6 +54,7 @@ class Gimbal {
 
     float patrol_range;
     float patrol_omega;
+    float patrol_hight;
 
     struct {
       Component::Type::CycleValue pitch_max;
@@ -85,6 +84,8 @@ class Gimbal {
 
   float dt_ = 0.0f;
 
+  uint32_t autopatrol_start_time_ = 0;
+
   Param param_;
 
   Gimbal::Mode mode_ = RELAX; /* 云台模式 */
diff --git a/src/module/launcher/mod_launcher.cpp b/src/module/launcher/mod_launcher.cpp
index a0f48d3d..5fb4c8f1 100644
--- a/src/module/launcher/mod_launcher.cpp
+++ b/src/module/launcher/mod_launcher.cpp
@@ -29,11 +29,15 @@ Launcher::Launcher(Param& param, float control_freq)
 
   auto event_callback = [](LauncherEvent event, Launcher* launcher) {
     launcher->ctrl_lock_.Wait(UINT32_MAX);
-    switch (event) { /* 根据event设置模式 */
+    switch (event) {
       case CHANGE_FIRE_MODE_RELAX:
+        launcher->SetFireMode(static_cast<FireMode>(RELAX));
+        break;
       case CHANGE_FIRE_MODE_SAFE:
+        launcher->SetFireMode(static_cast<FireMode>(SAFE));
+        break;
       case CHANGE_FIRE_MODE_LOADED:
-        launcher->SetFireMode(static_cast<FireMode>(event));
+        launcher->SetFireMode(static_cast<FireMode>(LOADED));
         break;
       case LAUNCHER_START_FIRE: /* 摩擦轮开启条件下，开火控制fire为ture */
         if (launcher->fire_ctrl_.fire_mode_ == LOADED) {
@@ -42,8 +46,10 @@ Launcher::Launcher(Param& param, float control_freq)
         break;
 
       case CHANGE_TRIG_MODE_SINGLE:
+        launcher->SetTrigMode(static_cast<TrigMode>(SINGLE));
+        break;
       case CHANGE_TRIG_MODE_BURST:
-        launcher->SetTrigMode(static_cast<TrigMode>(event));
+        launcher->SetTrigMode(static_cast<TrigMode>(CONTINUED));
         break;
       case CHANGE_TRIG_MODE:
         launcher->SetTrigMode(static_cast<TrigMode>(
-- 
Gitee


From dba5bef8e111677a543259f3574ff2c0bc9d1734 Mon Sep 17 00:00:00 2001
From: Marine_zxy <1423266892@qq.com>
Date: Sun, 31 Mar 2024 23:10:07 +0800
Subject: [PATCH 3/3] =?UTF-8?q?=E5=93=A8=E5=85=B5=E4=BF=AE=E6=94=B9?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 src/robot/sentry/robot.cpp | 59 ++++++++++++++++----------------------
 src/robot/sentry/robot.hpp |  2 +-
 2 files changed, 25 insertions(+), 36 deletions(-)

diff --git a/src/robot/sentry/robot.cpp b/src/robot/sentry/robot.cpp
index 33306fd6..c3548a8d 100644
--- a/src/robot/sentry/robot.cpp
+++ b/src/robot/sentry/robot.cpp
@@ -41,19 +41,19 @@ Robot::Sentry::Param param = {
       },
       Component::CMD::EventMapItem{
         Device::AI::AI_OFFLINE,
-        Module::RMChassis::SET_MODE_RELAX
+        Module::RMChassis::SET_MODE_ROTOR
       },
       Component::CMD::EventMapItem{
         Device::AI::AI_FIND_TARGET,
-        Module::RMChassis::SET_MODE_RELAX
+        Module::RMChassis::SET_MODE_ROTOR
       },
       Component::CMD::EventMapItem{
         Device::AI::AI_AUTOPATROL,
-        Module::RMChassis::SET_MODE_RELAX
+        Module::RMChassis::SET_MODE_ROTOR
       },
       Component::CMD::EventMapItem{
         Device::AI::AI_TURN,
-        Module::RMChassis::SET_MODE_RELAX
+        Module::RMChassis::SET_MODE_ROTOR
       }
     },
 
@@ -175,9 +175,9 @@ Robot::Sentry::Param param = {
     .yaw_actr = {
       .speed = {
           /* GIMBAL_CTRL_YAW_OMEGA_IDX */
-          .k = 0.6f,
-          .p = 1.f,
-          .i = 3.f,
+          .k = 0.7f,
+          .p = 1.0f,
+          .i = 0.3f,
           .d = 0.f,
           .i_limit = 0.2f,
           .out_limit = 1.0f,
@@ -187,12 +187,12 @@ Robot::Sentry::Param param = {
 
         .position = {
           /* GIMBAL_CTRL_YAW_ANGLE_IDX */
-          .k = 5.0f,
+          .k = 20.0f,
           .p = 1.0f,
           .i = 0.0f,
-          .d = 1.4f,
+          .d = 0.0f,
           .i_limit = 0.0f,
-          .out_limit = 10.0f,
+          .out_limit = 20.0f,
           .d_cutoff_freq = -1.0f,
           .cycle = true,
         },
@@ -204,7 +204,7 @@ Robot::Sentry::Param param = {
     .pit_actr = {
         .speed = {
           /* GIMBAL_CTRL_PIT_OMEGA_IDX */
-          .k = 0.25f,
+          .k = 0.2f,
           .p = 1.0f,
           .i = 0.f,
           .d = 0.f,
@@ -216,7 +216,7 @@ Robot::Sentry::Param param = {
 
         .position = {
           /* GIMBAL_CTRL_PIT_ANGLE_IDX */
-          .k = 16.0f,
+          .k = 20.0f,
           .p = 1.0f,
           .i = 0.0f,
           .d = 0.0f,
@@ -247,16 +247,17 @@ Robot::Sentry::Param param = {
 
     .mech_zero = {
       .yaw = 3.12f,
-      .pit = 4.0f,
+      .pit = 0.50f,
       .rol = 0.0f,
     },
 
-    .patrol_range = 0.25,
-    .patrol_omega = 0.005,
+    .patrol_range = 0.4f,
+    .patrol_omega = 2.0f,
+    .patrol_hight = 6.0,
 
     .limit = {
-      .pitch_max = 0.57f,
-      .pitch_min = 0.23f,
+      .pitch_max = 0.60f,
+      .pitch_min = 0.19f,
     },
 
     .EVENT_MAP = {
@@ -274,11 +275,11 @@ Robot::Sentry::Param param = {
       },
       Component::CMD::EventMapItem{
         Device::DR16::DR16_SW_L_POS_BOT,/* 模拟未找到目标，巡逻模式 */
-        Module::Gimbal::SET_MODE_ABSOLUTE
+        Module::Gimbal::SET_AUTOPATROL
       },
       Component::CMD::EventMapItem{
         Device::AI::AI_OFFLINE,
-        Module::Gimbal::SET_MODE_RELAX
+        Module::Gimbal::SET_AUTOPATROL
       },
       Component::CMD::EventMapItem{
         Device::AI::AI_FIND_TARGET,
@@ -287,10 +288,6 @@ Robot::Sentry::Param param = {
       Component::CMD::EventMapItem{
         Device::AI::AI_AUTOPATROL,
         Module::Gimbal::SET_AUTOPATROL
-      },
-      Component::CMD::EventMapItem{
-        Device::AI::AI_TURN,
-        Module::Gimbal::SET_AI_TURN
       }
     },
 
@@ -417,12 +414,8 @@ Robot::Sentry::Param param = {
         Module::Launcher::LAUNCHER_START_FIRE
       },
       Component::CMD::EventMapItem{
-        Device::AI::AIControlData::AI_FIND_TARGET,
-        Module::Launcher::CHANGE_FIRE_MODE_LOADED
-      },
-      Component::CMD::EventMapItem{
-        Device::AI::AIControlData::AI_FIRE_COMMAND,
-          Module::Launcher::CHANGE_FIRE_MODE_LOADED
+        Device::AI::AIControlData::AI_AUTOPATROL,
+        Module::Launcher::CHANGE_FIRE_MODE_RELAX
       },
         Component::CMD::EventMapItem{
         Device::AI::AIControlData::AI_FIRE_COMMAND,
@@ -559,12 +552,8 @@ Robot::Sentry::Param param = {
         Module::Launcher::LAUNCHER_START_FIRE
       },
       Component::CMD::EventMapItem{
-        Device::AI::AIControlData::AI_FIND_TARGET,
-        Module::Launcher::CHANGE_FIRE_MODE_LOADED
-      },
-      Component::CMD::EventMapItem{
-        Device::AI::AIControlData::AI_FIRE_COMMAND,
-          Module::Launcher::CHANGE_FIRE_MODE_LOADED
+        Device::AI::AIControlData::AI_AUTOPATROL,
+        Module::Launcher::CHANGE_FIRE_MODE_RELAX
       },
         Component::CMD::EventMapItem{
         Device::AI::AIControlData::AI_FIRE_COMMAND,
diff --git a/src/robot/sentry/robot.hpp b/src/robot/sentry/robot.hpp
index 29b5d8a6..0694c301 100644
--- a/src/robot/sentry/robot.hpp
+++ b/src/robot/sentry/robot.hpp
@@ -40,7 +40,7 @@ class Sentry {
   Module::Launcher launcher1_;
   Module::Launcher launcher2_;
   Sentry(Param& param, float control_freq)
-      : cmd_(Component::CMD::CMD_AUTO_CTRL),
+      : cmd_(Component::CMD::CMD_OP_CTRL),
         bmi088_(param.bmi088_rot),
         cap_(param.cap),
         chassis_(param.chassis, control_freq),
-- 
Gitee