Merge branch 'master' of http://192.168.14.36:3000/adc_pilot/modularization

src/controller/controller_vv7/main.cpp

@@ -108,7 +108,12 @@ void ListenRemotectrl(const char * strdata,const unsigned int nSize,const unsign
     else
     {
         gbAutoDriving = false;
+
         xdecition.set_accelerator(xrc.acc()*0.01);
+        if(xrc.brake()>0)
+        {
+            xdecition.set_accelerator(xrc.brake()*(-0.05));
+        }
         xdecition.set_brake(xrc.brake());
         xdecition.set_wheelangle(xrc.wheel()*5.5f);
         xdecition.set_gear(1);

src/decition/decition_brain/decition/adc_controller/pid_controller.cpp

@@ -64,7 +64,7 @@ float iv::decition::PIDController::getPidAngle(float realSpeed, std::vector<Poin
 
     double PreviewDistance;//预瞄距离
 
-    if(ServiceCarStatus.msysparam.mvehtype=="ge3"){
+    if(ServiceCarStatus.msysparam.mvehtype=="ge3" || ServiceCarStatus.msysparam.mvehtype=="vv7"){
         realSpeed > 40 ? PreviewDistance = max(6.0, realSpeed *0.6) : PreviewDistance = max(4.0, realSpeed *0.3);
     }else if(ServiceCarStatus.msysparam.mvehtype=="hapo"){
         if(turning){

src/decition/decition_brain/decition/decide_gps_00.cpp

@@ -1913,9 +1913,10 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
     std::cout<<"dSpeed= "<<dSpeed<<std::endl;
 
     // givlog->debug("SPEED","dSpeed is %f",dSpeed);
+     gps_decition->wheel_angle = 0.0 - controlAng;
     phaseSpeedDecition(gps_decition, secSpeed, obsDistance, obsSpeed,now_gps_ins);
 
-    gps_decition->wheel_angle = 0.0 - controlAng;
+
 
     lastAngle=gps_decition->wheel_angle;
 

src/decition/decition_brain_sf/decition/adc_controller/pid_controller.cpp

@@ -68,7 +68,7 @@ float iv::decition::PIDController::getPidAngle(float realSpeed, std::vector<Poin
 
     double PreviewDistance;//预瞄距离
 
-    if(ServiceCarStatus.msysparam.mvehtype=="ge3"){
+    if(ServiceCarStatus.msysparam.mvehtype=="ge3" || ServiceCarStatus.msysparam.mvehtype=="vv7"){
         realSpeed > 40 ? PreviewDistance = max(6.0, realSpeed *0.6) : PreviewDistance = max(4.0, realSpeed *0.3);
     }else{
         realSpeed > 40 ? PreviewDistance = max(6.0, realSpeed *0.6) : PreviewDistance = max(6.0, realSpeed *0.5);

src/decition/decition_brain_sf/decition/decide_gps_00.cpp

@@ -1856,13 +1856,15 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
     std::cout<<"dSpeed= "<<dSpeed<<std::endl;
 
     // givlog->debug("SPEED","dSpeed is %f",dSpeed);
+
+     gps_decition->wheel_angle = 0.0 - controlAng;
     phaseSpeedDecition(gps_decition, secSpeed, obsDistance, obsSpeed,now_gps_ins);
 
 
 
 
 
-    gps_decition->wheel_angle = 0.0 - controlAng;
+