Merge branch 'master' of https://git.brisky.space/btl143/QDAC-firmware

app/gl_get_corners.c

@@ -61,8 +61,16 @@ void get_corners()
         // L 角点阈值
         if (Lpt0_found_barrier == false && (40. / 180. * PI32) < conf && conf < (160. / 180. * PI32) && i < 0.6 / RESAMPLEDIST) {
             Lpt0_rpts0s_id_barrier = i;
+            if (pts_resample_left[i][1] <= pts_resample_left[clip(i + 2, 0, pts_resample_left_count - 1)][1])
+            {
                 Lpt0_found_barrier     = true;
             }
+            else{
+                Lpt0_found_barrier     = false;
+            }
+            
+            //Lpt0_found_barrier     = true;
+        }
     }
     if (Lpt0_found_barrier) {
         float angle1 = calculate_vector_angle(pts_resample_left[Lpt0_rpts0s_id_barrier][1], pts_resample_left[Lpt0_rpts0s_id_barrier][0], pts_resample_left[Lpt0_rpts0s_id_barrier + 5][1], pts_resample_left[Lpt0_rpts0s_id_barrier + 5][0]);
@@ -73,6 +81,9 @@ void get_corners()
         }
     }
 
+
+
+
     for (int i = 0; i < pts_resample_right_count; i++) {
         if (angle_new_right[i] == 0) continue;
         int im1    = clip(i - (int)round(ANGLEDIST / RESAMPLEDIST), 0, pts_resample_right_count - 1);
@@ -118,8 +129,16 @@ void get_corners()
 
         if (Lpt1_found_barrier == false && (40. / 180. * PI32) < conf && conf < 160. / 180. * PI32 && i < 0.6 / RESAMPLEDIST) {
             Lpt1_rpts1s_id_barrier = i;
+
+            if (pts_resample_right[i][1] >= pts_resample_right[clip(i + 2, 0, pts_resample_left_count - 1)][1])
+            {
                 Lpt1_found_barrier     = true;
             }
+            else{
+                Lpt1_found_barrier     = false;
+            }
+            //Lpt1_found_barrier     = true;
+        }
     }
     if (Lpt1_found_barrier) {
         float angle2 = calculate_vector_angle(pts_resample_right[Lpt1_rpts1s_id_barrier][1], pts_resample_right[Lpt1_rpts1s_id_barrier][0], pts_resample_right[Lpt1_rpts1s_id_barrier + 5][1], pts_resample_right[Lpt1_rpts1s_id_barrier + 5][0]);