change decition_brain_sf. limit wheel to 430.

src/decition/decition_brain_sf/decition/adc_adapter/ge3_adapter.cpp

@@ -115,6 +115,8 @@ iv::decition::Decition iv::decition::Ge3Adapter::getAdapterDeciton(GPS_INS now_g
     (*decition)->wheel_angle=min((float)500.0,(*decition)->wheel_angle);
 
 
+
+
     return *decition;
 }
 

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

@@ -126,8 +126,8 @@ iv::decition::Decition iv::decition::ChanganShenlanAdapter::getAdapterDeciton(GP
     (*decition)->angle_mode = 2; //横向控制激活，和上一条同时满足才执行横向请求角度
     (*decition)->auto_mode = 3; //3为自动控制模式
 
-    (*decition)->wheel_angle=max((float)-500.0,float((*decition)->wheel_angle+ServiceCarStatus.mfEPSOff));
-    (*decition)->wheel_angle=min((float)500.0,(*decition)->wheel_angle);
+        (*decition)->wheel_angle=max((float)-430.0,float((*decition)->wheel_angle+ServiceCarStatus.mfEPSOff));
+        (*decition)->wheel_angle=min((float)430.0,(*decition)->wheel_angle);
 
 
     return *decition;

src/decition/decition_brain_sf_changan_shenlan/decition/adc_tools/compute_00.cpp

@@ -1010,6 +1010,7 @@ iv::Point2D iv::decition::Compute00::getLidarObsPoint(std::vector<Point2D> gpsTr
 iv::Point2D iv::decition::Compute00::getLidarObsPointXY(std::vector<Point2D> gpsTrace,std::vector<Point2D> gpsTraceLeft,std::vector<Point2D> gpsTraceRight, iv::LidarGridPtr lidarGridPtr) {
 
     iv::Point2D obsPoint(-1, -1);
+    obsPoint.s = -1;
     float xiuzheng=0;
     if(!ServiceCarStatus.useMobileEye){
         xiuzheng=0-ServiceCarStatus.msysparam.lidarGpsXiuzheng;

src/decition/decition_brain_sf_changan_shenlan/decition/decide_gps_00.cpp

@@ -3722,6 +3722,10 @@ void iv::decition::DecideGps00::computeObsOnRoadXY( iv::GPS_INS now_gps_ins,iv::
         obsFrenet.s=obsFrenetMid.s-now_s_d.s;
         lidarDistance = obsFrenet.s;//obsPoint.y + lidarXiuZheng;   //激光距离推到车头  gjw20191110 lidar
         //    lidarDistance=-1;
+        if(obsPoint.s < 0)
+        {
+           lidarDistance = -1;
+        }
         if (lidarDistance<0)
         {
             lidarDistance = -1;