| | |
| | | }*/ |
| | | |
| | | if (RxBufLen > 0) { |
| | | #if 0 |
| | | #if 1 |
| | | const uint8_t *ptr = parseGPS(RxBuf, RxBuf + RxBufLen); |
| | | if(ptr != RxBuf) { |
| | | memcpy(RxBuf, ptr, RxBufLen - (ptr - RxBuf)); |
| | |
| | | |
| | | static const int INVALID_ROAD = -1; |
| | | |
| | | static const int CROSSING_TURN_THRESHOLD = 45; |
| | | static const int CROSSING_TURN_THRESHOLD = 35; |
| | | static const int TURN_THRESHOLD = 3; |
| | | |
| | | const double SLIDE_DISTANCE_THRESHOLD_RED = 0.3; |
| | |
| | | turnTimeCnt += TimeGetDiff(rtkTime, &prevDetectTurnTime); |
| | | int wise = isTurn((int) car->yaw, startTurnYaw, TURN_THRESHOLD); |
| | | DEBUG("转动角度 %d", wise); |
| | | if (ABS(wise) > CROSSING_TURN_THRESHOLD) { |
| | | if (ABS(wise) >= CROSSING_TURN_THRESHOLD) { |
| | | // 确认转弯行为,检测开始刚转弯时转向灯情况 |
| | | turnCnt = -1; |
| | | |