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Auto commit at 2025-06-05 08:43:54

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This commit is contained in:
cxh 2025-06-05 08:43:54 +08:00
parent a4f58aa70f
commit 46b7d6e536
3 changed files with 4 additions and 4 deletions
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2
src/ctrl_arbiter/src/ctrl_arbiter.cpp
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@ -74,7 +74,7 @@ private:
// 所有控制源均失联，发布安全默认指令 // 所有控制源均失联，发布安全默认指令
mc::msg::McCtrl safe_msg; mc::msg::McCtrl safe_msg;
safe_msg.mcu_enabled = false; safe_msg.mcu_enabled = true;
safe_msg.brake = 1; safe_msg.brake = 1;
safe_msg.gear = 0; safe_msg.gear = 0;
safe_msg.rpm = 0; safe_msg.rpm = 0;

4
src/mc/src/mc.cpp
View File

@ -67,7 +67,7 @@ mc::msg::McCtrl get_safe_control()
if (!control_cache.get(msg)) if (!control_cache.get(msg))
{ {
// 超时或未接收到控制数据，进入安全状态 // 超时或未接收到控制数据，进入安全状态
msg.mcu_enabled = false; msg.mcu_enabled = true;
msg.brake = 1; msg.brake = 1;
msg.gear = 0; msg.gear = 0;
msg.rpm = 0; msg.rpm = 0;
@ -142,7 +142,7 @@ void receiveHandler(const CANFrame &frame, void *userData)
// 立即更新控制缓存，强制进入安全状态 // 立即更新控制缓存，强制进入安全状态
mc::msg::McCtrl safe_msg; mc::msg::McCtrl safe_msg;
safe_msg.mcu_enabled = false; safe_msg.mcu_enabled = true;
safe_msg.brake = 1; safe_msg.brake = 1;
safe_msg.gear = 0; safe_msg.gear = 0;
safe_msg.rpm = 0; safe_msg.rpm = 0;

2
src/radio_ctrl/src/radio_ctrl.cpp
View File

@ -157,7 +157,7 @@ private:
} }
else // 未使能状态，发送安全默认控制指令 else // 未使能状态，发送安全默认控制指令
{ {
msg.mcu_enabled = false; msg.mcu_enabled = true;
msg.brake = 1; msg.brake = 1;
msg.gear = 0; msg.gear = 0;
msg.rpm = 0; msg.rpm = 0;