From b56d7e2f98ae368a72fc9d6ef17502ec53b4ab47 Mon Sep 17 00:00:00 2001
From: cxh <zxwl@56.com>
Date: Fri, 13 Jun 2025 11:29:11 +0800
Subject: [PATCH] Auto commit at 2025-06-13 11:29:11

---
 src/radio_ctrl/src/radio_ctrl.cpp | 21 ++++++++++++---------
 1 file changed, 12 insertions(+), 9 deletions(-)

diff --git a/src/radio_ctrl/src/radio_ctrl.cpp b/src/radio_ctrl/src/radio_ctrl.cpp
index 47de49a..5f6d9c0 100644
--- a/src/radio_ctrl/src/radio_ctrl.cpp
+++ b/src/radio_ctrl/src/radio_ctrl.cpp
@@ -98,16 +98,19 @@ private:
                     msg.rpm = 0;
                 }
 
-                // 油门 / 刹车逻辑
-                if (ch_data[1] <= speed[1])
+                if (ch_data[7] != 992)
                 {
-                    msg.brake = 1;
-                    msg.rpm = 0;
-                }
-                else
-                {
-                    msg.brake = 0;
-                    msg.rpm = static_cast<uint8_t>(MCU_RPM_MAX * (ch_data[1] - speed[1]) / (speed[2] - speed[1]));
+                    // 油门 / 刹车逻辑
+                    if (ch_data[1] <= speed[1])
+                    {
+                        msg.brake = 1;
+                        msg.rpm = 0;
+                    }
+                    else
+                    {
+                        msg.brake = 0;
+                        msg.rpm = static_cast<uint8_t>(MCU_RPM_MAX * (ch_data[1] - speed[1]) / (speed[2] - speed[1]));
+                    }
                 }
 
                 // 一键清扫