btl143/QDAC-firmware
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Merge branch 'master' of http://git.brisky.space:441/btl143/firmware_clover

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Glz
2024-03-29 10:52:20 +08:00
parent 28636012f6 1a9d9e4f9d
commit 1d36636740
1 changed files with 5 additions and 6 deletions
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11
app/gl_get_corners.c
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@@ -14,9 +14,10 @@ void get_corners()
int im1 = clip(i - (int)round(ANGLEDIST / RESAMPLEDIST), 0, pts_resample_left_count - 1); int im1 = clip(i - (int)round(ANGLEDIST / RESAMPLEDIST), 0, pts_resample_left_count - 1);
int ip1 = clip(i + (int)round(ANGLEDIST / RESAMPLEDIST), 0, pts_resample_left_count - 1); int ip1 = clip(i + (int)round(ANGLEDIST / RESAMPLEDIST), 0, pts_resample_left_count - 1);
float conf = fabs(angle_left[i]) - (fabs(angle_left[im1]) + fabs(angle_left[ip1])) / 2; float conf = fabs(angle_left[i]) - (fabs(angle_left[im1]) + fabs(angle_left[ip1])) / 2;
// ips114_show_float(120, 80, conf, 3, 4); // 114_show_float(120, 80, conf, 3, 4);
// L 角点阈值 // L 角点阈值
if (Lpt0_found == false && (66. / 180. * PI32) < conf && conf < (140. / 180. * PI32) && i < 0.5 / RESAMPLEDIST) { if (Lpt0_found == false && (66. / 180. * PI32) < conf && conf < (140. / 180. * PI32) && i < 0.5 / RESAMPLEDIST)
{
Lpt0_rpts0s_id = i; Lpt0_rpts0s_id = i;
Lpt0_found = true; Lpt0_found = true;
// transform(pts_resample_left[Lpt0_rpts0s_id][1],pts_resample_left[Lpt0_rpts0s_id][0],&Lpt0[1],&Lpt0[0]); //待优化，是否用到，无用则删 // transform(pts_resample_left[Lpt0_rpts0s_id][1],pts_resample_left[Lpt0_rpts0s_id][0],&Lpt0[1],&Lpt0[0]); //待优化，是否用到，无用则删
@@ -46,11 +47,9 @@ void get_corners()
// } // }
//if (is_turn0) //if (is_turn0)
//{ //{
//state_type = TURN_LEFT_STATE; // state_type = TURN_LEFT_STATE;
//} //}
Lpt0_found_barrier = Lpt1_found_barrier = false; Lpt0_found_barrier = Lpt1_found_barrier = false;
Lpt0_found_barrier_in = Lpt1_found_barrier_in = false; Lpt0_found_barrier_in = Lpt1_found_barrier_in = false;
for (int i = 0; i < pts_resample_left_count; i++) { for (int i = 0; i < pts_resample_left_count; i++) {