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@@ -767,7 +767,7 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
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}
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else
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{
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- controlAng = Compute00().mfWheelAngle[1];// ServiceCarStatus.mfMaxWheel ;//Compute00().dBocheAngle*16.5;
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+ controlAng = Compute00().mfWheelAngle[1] * (-1);// ServiceCarStatus.mfMaxWheel ;//Compute00().dBocheAngle*16.5;
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gps_decition->wheel_angle = 0 - controlAng;
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if (qiedianCount && trumpet()<1500)
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{
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@@ -837,7 +837,7 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
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phaseSpeedDecition(gps_decition, secSpeed, -1, 0, now_gps_ins);
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}
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- gps_decition->wheel_angle = Compute00().mfWheelAngle[2] *(-1.0);//0 ;
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+ gps_decition->wheel_angle = Compute00().mfWheelAngle[2];//0 ;
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cout<<"farTpointDistance================"<<dis<<endl;
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return gps_decition;
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}
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@@ -862,7 +862,7 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
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}
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else {
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- controlAng = Compute00().mfWheelAngle[3];//ServiceCarStatus.mfMaxWheel *(-1.0) ;
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+ controlAng = Compute00().mfWheelAngle[3] * (-1);//ServiceCarStatus.mfMaxWheel *(-1.0) ;
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gps_decition->wheel_angle = 0 - controlAng;// 0 - controlAng*0.95;
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if (qiedianCount && trumpet()<1500)
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{
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