From 4581cc42ba485366603ca8e3f61183f6a50ad72f Mon Sep 17 00:00:00 2001
From: fctom1215 <fctom1215@outlook.com>
Date: 星期五, 21 二月 2020 17:18:30 +0800
Subject: [PATCH] GPS信息合并到RTK中，以RTK包，发送
---
lib/src/main/cpp/driver_test.cpp | 17 ++++++++++++++++-
1 files changed, 16 insertions(+), 1 deletions(-)
diff --git a/lib/src/main/cpp/driver_test.cpp b/lib/src/main/cpp/driver_test.cpp
index 4c7cf51..a78aa18 100644
--- a/lib/src/main/cpp/driver_test.cpp
+++ b/lib/src/main/cpp/driver_test.cpp
@@ -359,14 +359,17 @@
{
bool err = false;
- DEBUG("StartDriverExam %d", start);
if (start == 0) {
+ DEBUG("-------------缁撴潫鑰冭瘯----------------");
+
CurrExamMapIndex = -1;
TestStart = false;
CommTestStart(false);
MA_SendExamStatus(0, 0);
return;
}
+
+ DEBUG("+++++++++++++++寮�濮嬭�冭瘯++++++++++++++++++++");
if (MapNum == 0) {
err = true;
@@ -977,6 +980,18 @@
double tx = carModel->carDesc[i].distance*sin(toRadians(azimuth));
double ty = carModel->carDesc[i].distance*cos(toRadians(azimuth));
+// double qrx = carModel->carDesc[i].distance * sin(toRadians(carModel->carDesc[i].angle));
+// double qry = carModel->carDesc[i].distance * cos(toRadians(carModel->carDesc[i].angle)) * cos(toRadians(pitch));
+//
+// double projDis = sqrt(pow(qrx, 2) + pow(pry, 2));
+// double projAng;
+//
+// if (fabs(qry) <= EPSILON) {
+// projAng = 90;
+// } else {
+// projAng = toDegree(atan(qrx / qry));
+// }
+
carModel->carXY[i].X = (tx)*cos(toRadians(carModel->carDesc[i].angle)) -
(ty)*sin(toRadians(carModel->carDesc[i].angle)) + main_ant.X;
carModel->carXY[i].Y = (tx)*sin(toRadians(carModel->carDesc[i].angle)) +
--
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