From e022697567d45bb8a3c347f8c707a551af547ee5 Mon Sep 17 00:00:00 2001
From: xuncheng <205455603@qq.com>
Date: Sat, 17 Oct 2026 23:40:36 +0800
Subject: [PATCH 1/3] Update varible names and supplement missing msg.

---
 rm_common/include/rm_common/decision/heat_limit.h | 2 +-
 rm_msgs/msg/LocalHeatData.msg                     | 1 +
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/rm_common/include/rm_common/decision/heat_limit.h b/rm_common/include/rm_common/decision/heat_limit.h
index 99bc1bcb..0a2e21a6 100644
--- a/rm_common/include/rm_common/decision/heat_limit.h
+++ b/rm_common/include/rm_common/decision/heat_limit.h
@@ -210,7 +210,7 @@ class HeatLimit
 
   void flyTimeCB(const std_msgs::Float64ConstPtr& msg)
   {
-    buff_shoot_frequency_ = 1 / (msg->data + buff_offset);
+    buff_shoot_frequency_ = 1 / (msg->data + buff_offset_);
   }
 
 private:
diff --git a/rm_msgs/msg/LocalHeatData.msg b/rm_msgs/msg/LocalHeatData.msg
index 432322d5..18f73825 100644
--- a/rm_msgs/msg/LocalHeatData.msg
+++ b/rm_msgs/msg/LocalHeatData.msg
@@ -1,2 +1,3 @@
 int64 once_shoot_num
 float64 local_shooter_cooling_heat
+float64 desire_shoot_frequency

From 16ccccb164eb0a3982e2693c4d458dd31fe1439c Mon Sep 17 00:00:00 2001
From: xuncheng <205455603@qq.com>
Date: Sat, 17 Oct 2026 23:46:46 +0800
Subject: [PATCH 2/3] Fix bug.

---
 rm_referee/src/ui/time_change_ui.cpp | 5 -----
 1 file changed, 5 deletions(-)

diff --git a/rm_referee/src/ui/time_change_ui.cpp b/rm_referee/src/ui/time_change_ui.cpp
index 22262eb1..57074f23 100644
--- a/rm_referee/src/ui/time_change_ui.cpp
+++ b/rm_referee/src/ui/time_change_ui.cpp
@@ -619,11 +619,6 @@ void DeployDistanceTimeChangeUi::updateDeployDistanceData(const geometry_msgs::P
   updateForQueue();
 }
 
-void DeployDistanceTimeChangeUi::updateDeployDistanceData(const geometry_msgs::PointConstPtr& data)
-{
-  deploy_distance_ = sqrt(data->x * data->x + data->y * data->y);
-  updateForQueue();
-}
 
 void DeployDistanceTimeChangeUi::updateConfig()
 {

From bee758aab16385df78af41247d54e6c191f12c43 Mon Sep 17 00:00:00 2001
From: xuncheng <205455603@qq.com>
Date: Sat, 17 Oct 2026 23:49:26 +0800
Subject: [PATCH 3/3] Fix format.

---
 rm_referee/src/ui/time_change_ui.cpp | 1 -
 1 file changed, 1 deletion(-)

diff --git a/rm_referee/src/ui/time_change_ui.cpp b/rm_referee/src/ui/time_change_ui.cpp
index 57074f23..48072332 100644
--- a/rm_referee/src/ui/time_change_ui.cpp
+++ b/rm_referee/src/ui/time_change_ui.cpp
@@ -619,7 +619,6 @@ void DeployDistanceTimeChangeUi::updateDeployDistanceData(const geometry_msgs::P
   updateForQueue();
 }
 
-
 void DeployDistanceTimeChangeUi::updateConfig()
 {
   char buffer[32];