1

app/gl_cross.c

@@ -20,7 +20,7 @@ void CheckCross()
         if (cross_type == CROSS_NONE && Xfound && cross_easy == 0) {
             cross_type = CROSS_BEGIN;
         }
-        if (cross_type == CROSS_NONE && cross_easy == 1 && (Lpt0_found || Lpt1_found)) {
+        if (cross_type == CROSS_NONE && cross_easy == 1 && (((Lpt0_found || Lpt1_found) && (pts_resample_left_count <= 3 || pts_resample_right_count <= 3)) || Xfound)) {
             cross_type = CROSS_BEGIN;
         }
     }

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;
+    }
+    
+    
     
     
 

app/gl_tracking.h

@@ -10,6 +10,7 @@ extern float curvature;
 
 extern int8_t turn_flag ;
 extern float curvature;
+extern float turn_threshold;
 void aim_distance_select(void);
 void tracking(void);
 void ElementJudge(void);