aim_policy.h File Reference

Decides where the turret should point from the tracker state (pure C++20, natively tested). More...

#include "aim_map.h"
#include "tracking_types.h"
#include <cstdint>

Go to the source code of this file.

Classes
struct	aiming::TrackView
struct	aiming::AimCommand
	Result of one policy update. For Aim and Home, angles is the new target pose. For Hold, angles is the current commanded pose (the last Aim or Home, or the Home pose before any lock); consumers act only on Aim and Home. More...
struct	aiming::PolicyConfig
class	aiming::AimPolicy

Enumerations
enum class	AimKind : uint8_t { Hold , Aim , Home }

Detailed Description

Decides where the turret should point from the tracker state (pure C++20, natively tested).

Locked/Coasting: aim at the mapped target position, changing the setpoint only when the new aim is more than deadband_deg away on either axis (no jitter). Tentative: hold. Idle: hold, and home_delay_ms after the target was last seen, return Home exactly once. Time is millis()-style uint32 and wraparound-safe.