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feat: 避障功能实现

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井明江
2024-03-23 18:26:03 +08:00
parent 2d221df9d8
commit 7d5bee30d1
5 changed files with 22 additions and 13 deletions
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6
app/gl_tracking.c
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@@ -29,7 +29,7 @@ void aim_distance_select(void)
} else if (circle_type != CIRCLE_NONE) {
aim_distance = cross_aim;
} else if (barrier_type != BARRIER_NONE) {
aim_distance = 0.3f;
aim_distance = barrier_aim;
} else {
aim_distance = common_aim;
}
@@ -138,10 +138,10 @@ void MidLineTrack()
// float error = -atan2f(dx, dy) * 180 / PI32;
if (barrier_type == BARRIER_LEFT_BEGIN) {
dx_near = rptsn[aim_idx_near][1] - cx;
dx_near = rptsn[aim_idx_near][1] - cx +barrier_offset;
pure_angle = -atanf(PIXPERMETER * 2.0f * 0.2f * dx / dn / dn) / PI32 * 180.0f;
} else if (barrier_type == BARRIER_RIGHT_BEGIN) {
dx_near = rptsn[aim_idx_near][1] - cx;
dx_near = rptsn[aim_idx_near][1] - cx - barrier_offset;
pure_angle = -atanf(PIXPERMETER * 2.0f * 0.2f * dx / dn / dn) / PI32 * 180.0f;
} else {
dx_near = rptsn[aim_idx_near][1] - cx;