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fctom1215

2020-08-28 cff87234c496f0a4522cd2ac57941f14c729b6ad

 lib/src/main/cpp/test_common/odo_graph.cpp

@@ -8,7 +8,7 @@
#include "../utils/xconvert.h"

static double odoGraph;
static struct drive_timer odoTimer;
static struct RtkTime odoTimer;
static double odoPrevSpeed;
static int odoCnt;

@@ -28,15 +28,13 @@
    if (odoCnt == 0 && moveDirect == 1) {
        odoPrevSpeed = speed;
        odoCnt = 1;
        Rtk2DriveTimer(odoTimer, rtkTime);
        odoTimer = *rtkTime;
    } else if (odoCnt == 1) {
        if (moveDirect == 1) {
            uint32_t tm = TimeGetDiff(rtkTime->hh, rtkTime->mm, rtkTime->ss, rtkTime->mss * 10,
                                      odoTimer.hour, odoTimer.min, odoTimer.sec,
                                      odoTimer.msec * 10);
            uint32_t tm = TimeGetDiff(rtkTime, &odoTimer);
            if (tm >= D_SEC(1)) {
                odoGraph += ((double) tm) * (odoPrevSpeed + speed) / 2.0 / 1000.0;
                Rtk2DriveTimer(odoTimer, rtkTime);
                odoTimer = *rtkTime;
                odoPrevSpeed = speed;
            }
        } else {