Optimize landing recognition accuracy

Author: 473867143

Modules/mission/autonomous_landing/autonomous_landing.cpp

@@ -452,12 +452,13 @@ int main(int argc, char **argv)
             }
             case LANDING:
             {
-                if(sim_mode)
+                if(sim_mode)    //？？
                 {
                     Command_Now.header.stamp = ros::Time::now();
                     Command_Now.Command_ID   = Command_Now.Command_ID + 1;
                     Command_Now.source = NODE_NAME;
-                    Command_Now.Mode = prometheus_msgs::ControlCommand::Disarm;
+                    //Command_Now.Mode = prometheus_msgs::ControlCommand::Disarm;
+                    Command_Now.Mode = prometheus_msgs::ControlCommand::Land;
                     command_pub.publish(Command_Now);
                 }else
                 {

Modules/object_detection/config/camera_param_gazebo_monocular.yaml

@@ -21,7 +21,8 @@ ellipse_det_r: 0.45
 kcf_tracker_h: 1.7
 
 ## landpad_det 降落板边长(默认0.6m)，0.6m包括边缘白色部分，黑色部分边长为0.4m
-landpad_det_len: 0.8
+## 仿真中降落板白色边缘边长为0.5357m
+landpad_det_len: 0.5357
 
 ## digitnum_det 数字周围的方框边长(默认1m)
 digitnum_det_len: 0.5

Simulator/gazebo_simulator/launch_detection/sitl_landing.launch

@@ -38,7 +38,7 @@
 		<param name="kpx_land" value="0.2" />
 		<param name="kpy_land" value="0.2" />
 		<param name="kpz_land" value="0.08" />
-		<param name="arm_height_to_ground" value="0.2" />
+		<param name="arm_height_to_ground" value="0.3" />
 		<param name="arm_distance_to_pad" value="0.4" />
 		<!-- 目标是否移动及其速度 -->
 		<param name="moving_target" value="false" />