修复移液枪 校准 错误的BUG

sdk/components/pipette_module/pipette_ctrl_module.cpp

@@ -414,7 +414,7 @@ int32_t PipetteModule::pipette_pump_aspirate() {
       } else {
         lld_enable_protect = m_common_cfg.lld_enable_protect;  // 使用全局配置
       }
-      _do_lld(acfg->container_pos, platform_info, container_cfg, liquidinfo, m_common_cfg.lld_enable_protect);  // 液面探测
+      _do_lld(acfg->container_pos, platform_info, container_cfg, liquidinfo,lld_enable_protect);  // 液面探测
     } else {
       m_state.water_level = acfg->container_pos + container_cfg->fix_water_level_depth;  // 没有使用lld，使用固定深度
     }
@@ -637,6 +637,7 @@ void PipetteModule::_do_sapirate(platinfo_t *platform_info, container_info_t *co
     }
 
     int32_t x100nl = calibrate_liquid_volume(liquidinfo, acfg->volumeX100nl);
+    ZLOGI(TAG, "--> aspirate volume=%d after calibrate volume=%d", acfg->volumeX100nl, x100nl);
 
     if (acfg->llf_enable > 0) {
       zm_move_to(acfg->container_pos + container_cfg->container_depth, kzm_v_llf, compute_zm_llf_vel(aspiration_pm_index, container_cfg));

sdk/components/pipette_module/pipette_ctrl_module_utils.cpp

@@ -215,8 +215,12 @@ void PipetteModule::dump(const char *title, distribu_all_param_t *param) {
 }
 
 int32_t PipetteModule::calibrate_liquid_volume(liquid_info_t *liquidinfo, int32_t volumex100nl) {
+  ZLOGI(TAG, "calibrate_liquid_volume: volumeX100nl:%d", volumex100nl);
+  ZLOGI(TAG, "k: %d, b: %d", liquidinfo->volume_calibration_coefficient_k, liquidinfo->volume_calibration_coefficient_b);
+
   int32_t x100nl = volumex100nl * liquidinfo->volume_calibration_coefficient_k * 0.001 +  //
-                   liquidinfo->volume_calibration_coefficient_b * 0.001;
+                   liquidinfo->volume_calibration_coefficient_b * 0.001 * 10;
+  ZLOGI(TAG, "calibrate_liquid_volume: after_x100nl:%d", x100nl);
   return x100nl;
 }