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

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Glz
2024-06-16 21:54:30 +08:00
parent b155d3ce14 a086ce17e4
commit 7f8e108170
4 changed files with 7 additions and 3 deletions
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5
app/gl_tracking.c
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@@ -4,6 +4,7 @@
float (*mid_track)[2];
int32_t mid_track_count;
float pure_angle;
float pure_angle_half;
float dx_near;
float curvature;
float (*rpts)[2];
@@ -176,7 +177,7 @@ void MidLineTrack()
int aim_idx_judge = clip(round(aim_judge_far / RESAMPLEDIST), 0, mid_track_count - 1);
// 近锚点位置
int aim_idx_near = clip(round(0.09 / RESAMPLEDIST), 0, rptsn_num - 1);
int aim_idx_near = clip(round(aim_distance / 2 / RESAMPLEDIST), 0, rptsn_num - 1);
float dx1 = mid_track[3 * (mid_track_count / 4)][1] - mid_track[aim_idx_judge][1];
float dy1 = mid_track[3 * (mid_track_count / 4)][0] - mid_track[aim_idx_judge][0];
@@ -212,8 +213,10 @@ void MidLineTrack()
if (dy > 0) {
pure_angle = -atanf(dx / dy) / PI32 * 180.0f;
last_pure_angle = pure_angle;
last_pure_angle_half = pure_angle_half;
} else {
pure_angle = last_pure_angle;
pure_angle_half = last_pure_angle_half;
}
}