1

2024-08-14 20:22:55 +08:00
parent 2db1937c89
commit dccfedc74c
3 changed files with 13 additions and 1 deletions
--- a/app/gl_tracking.c
+++ b/app/gl_tracking.c
@@ -17,6 +17,7 @@ int8_t turn_flag      = 0;
 int circle_flag       = 1;
 int pingbi_num        = 0;
 int last_garage_type  = GARAGE_NONE;
+float turn_threshold = 12.0f;
 // 计算最小二乘法斜率的函数
 float leastSquaresSlope(float points[][2], int n)
 {
@@ -369,6 +370,16 @@ void MidLineTrack()
    {
        aim_distance = cross_aim;
    }
+    if (curvature >= turn_threshold)
+    {
+        aim_distance = turn_aim;
+    }
+    if (curvature <= turn_threshold)
+    {
+        aim_distance = mid_aim;
+    }
+    
+