避障修改

2024-07-08 17:54:34 +08:00
parent 336d1bc100
commit dc874bf6f1
3 changed files with 40 additions and 4 deletions
--- a/app/gl_tracking.c
+++ b/app/gl_tracking.c
@@ -309,6 +309,11 @@ void MidLineTrack()
                    // pure_angle_half = last_pure_angle_half;
                }
        }
+        if (garage_type == GARAGE_FOUND)
+        {
+            pure_angle = 0.f;
+        }
+        

        // if (barrier_type == BARRIER_LEFT_BEGIN) {
        //     // dx_near    = mid_track[aim_idx_near][1] - cx + barrier_offset;