change decition_brain_sf_changan_shenlan.

src/decition/decition_brain_sf_changan_shenlan/decition/adc_adapter/changan_shenlan_adapter.cpp

@@ -70,6 +70,7 @@ iv::decition::Decition iv::decition::ChanganShenlanAdapter::getAdapterDeciton(GP
             if(abs(dSpeed-realSpeed)<2 && controlBrake>0){
                 controlBrake=0;
             }
+            controlSpeed = controlSpeed *400;
         }
     }
 
@@ -201,7 +202,7 @@ float iv::decition::ChanganShenlanAdapter::limitSpeed(float realSpeed, float con
     }
     if(dSpeed <= 3)
     {
-        controlSpeed = min(controlSpeed,20.0f);
+        controlSpeed = min(controlSpeed,400.0f);
     }
 
     controlSpeed=min((float)1200.0,controlSpeed);

src/decition/decition_brain_sf_changan_shenlan/decition/decide_gps_00.cpp

@@ -699,6 +699,8 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
         }
         else
         {
+            controlAng = Compute00().dBocheAngle*16.5;
+            gps_decition->wheel_angle = 0 - controlAng;
             if (qiedianCount && trumpet()<1000)
             {
                 //                gps_decition->brake = 10;
@@ -718,8 +720,8 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
                 phaseSpeedDecition(gps_decition, secSpeed, -1, 0, now_gps_ins);
             }
 
-            controlAng = Compute00().dBocheAngle*16.5;
-            gps_decition->wheel_angle = 0 - controlAng;
+
+
             cout<<"farTpointDistance================"<<dis<<endl;
             return gps_decition;
         }
@@ -785,6 +787,9 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
             cout<<"到达远切点+++++++++++++++++++++++++++++++++"<<endl;
         }
         else {
+
+            controlAng = 0-Compute00().dBocheAngle*16.5;
+            gps_decition->wheel_angle = 0 - controlAng*0.95;
             if (qiedianCount && trumpet()<1000)
             {
                 //                gps_decition->brake = 10;
@@ -804,8 +809,7 @@ iv::decition::Decition iv::decition::DecideGps00::getDecideFromGPS(GPS_INS now_g
                 phaseSpeedDecition(gps_decition, secSpeed, -1, 0, now_gps_ins);
             }
 
-            controlAng = 0-Compute00().dBocheAngle*16.5;
-            gps_decition->wheel_angle = 0 - controlAng*0.95;
+
             cout<<"farTpointDistance================"<<dis<<endl;
             return gps_decition;
         }