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避障修改

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Glz
2024-05-25 21:24:21 +08:00
parent d4afb39f8f
commit 5bb145fc5d
2 changed files with 4 additions and 3 deletions
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3
app/gl_tracking.c
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@@ -248,9 +248,10 @@ void MidLineTrack()
float temp_near = 0;
if (barrier_type == BARRIER_LEFT_BEGIN || barrier_type == BARRIER_LEFT_RUNNING) {
dx_near = mid_track[aim_idx_near][1] - cx + barrier_offset;
pure_angle = -atanf(PIXPERMETER * 2.0f * 0.2f * dx / dn) / PI32 * 180.0f - 10;
pure_angle = -atanf(PIXPERMETER * 2.0f * 0.2f * dx / dn) / PI32 * 180.0f - 20;
} else if (barrier_type == BARRIER_RIGHT_BEGIN || barrier_type == BARRIER_RIGHT_RUNNING ) {
dx_near = mid_track[aim_idx_near][1] - cx - barrier_offset;
pure_angle = -atanf(PIXPERMETER * 2.0f * 0.2f * dx / dn) / PI32 * 180.0f + 20;
} else {
if (fabs(cx - near_x1) > fabs(cx - near_x2))
{