change..

src/controller/controller_changan_shenlan_v2/main.cpp

@@ -213,7 +213,7 @@ void executeDecition(const iv::brain::decition &decition)
     byte_1C4[1] = ((_m1C4.ACC_MotorTorqueMaxLimitRequest & (0x07U)) << 5) | ((_m1C4.ACC_MotorTorqueMinLimitRequest >> 6) & (0x1FU));
     byte_1C4[2] = ((_m1C4.ACC_MotorTorqueMinLimitRequest & (0x3FU)) << 2) | ((_m1C4.ACC_LatAngReq >> 12) & (0x03U));
     byte_1C4[3] = (((_m1C4.ACC_LatAngReq>>4 )& (0xFFU)));
-    byte_1C4[4] = ((_m1C4.ACC_LatAngReq & (0x0FU))<<4)|((_m1C4.ACC_LatAngReqActive&(0x01U))<<3);
+    byte_1C4[4] = (((_m1C4.ACC_LatAngReq<<4) & (0xF0U)))|((_m1C4.ACC_LatAngReqActive&(0x01U))<<3);
     //byte_1C4[5] = ((_m144.ACC_ADCReqType & (0x03U)) << 6);
 
     //    _m24B.ACC_AEBTargetDeceleration = 0;
@@ -315,7 +315,7 @@ void Activate()
     }
     for(int i = 0; i < 10; i++){
         xdecition.set_wheelangle(0.0);
-        xdecition.set_angle_mode(2);
+        xdecition.set_angle_mode(1);
         xdecition.set_angle_active(1);
         xdecition.set_acc_active(1);
         xdecition.set_brake_active(1);
@@ -333,7 +333,7 @@ void UnAcitvate()
     iv::brain::decition xdecition;
     for(int i = 0; i < 10; i++){
         xdecition.set_wheelangle(0);
-        xdecition.set_angle_mode(2);
+        xdecition.set_angle_mode(1);
         xdecition.set_angle_active(1);
         xdecition.set_acc_active(1);
         xdecition.set_brake_active(1);
@@ -405,7 +405,7 @@ void ListenDeciton(const char * strdata,const unsigned int nSize,const unsigned
     //    {
     //        qDebug("not D");
     //    }
-    xdecition.set_angle_mode(2);
+    xdecition.set_angle_mode(1);
     xdecition.set_angle_active(1);
     xdecition.set_acc_active(1);
     xdecition.set_brake_active(1);