change controller_changan_a07. use apa, need limit wheel to -400---400.test ok.

src/controller/controller_changan_a07/main.cpp

@@ -28,7 +28,7 @@
 #include "changan_a07.h"
 #include "dbcsigpacker.h"
 
-bool gbUseAPA;
+bool gbUseAPA = true;
 int gnAPAstate = 0; //0 not request   1 request   2 active
 
 std::string gstrdbcpath;
@@ -105,11 +105,22 @@ void ExecSend();
 void executeDecition(const iv::brain::decition &decition)
 {
 
+    static double fLastWheelReq = 0;
     static int xieya = 50;
+    const double fwheelstep = 10;
 
     double fWheelAngleReq = decition.wheelangle();
-    if(fWheelAngleReq>430.0)fWheelAngleReq = 430.0;
-    if(fWheelAngleReq<(-430.0))fWheelAngleReq = -430.0;
+    if(fWheelAngleReq>400.0)fWheelAngleReq = 400.0;
+    if(fWheelAngleReq<(-400.0))fWheelAngleReq = -400.0;
+
+    double fdiff = fWheelAngleReq - fLastWheelReq;
+
+    if(fabs(fdiff ) > fwheelstep)
+    {
+        fWheelAngleReq = fLastWheelReq + fwheelstep * fdiff/(fabs(fdiff));
+    }
+
+    fLastWheelReq = fWheelAngleReq;
 
 
     SetMsgSignal("ECU_1B2","ACC_LatAngReq",fWheelAngleReq);
@@ -126,9 +137,11 @@ void executeDecition(const iv::brain::decition &decition)
 
     if(gbUseAPA)
     {
+
+
         static int64_t ntimeChangetoreq = std::chrono::system_clock::now().time_since_epoch().count()/1e6;
         int64_t nnow;
-        if(decition.angle_active() == 0)
+        if(decition.angle_active() == 1)
         {
             switch (gnAPAstate) {
             case 0:
@@ -171,6 +184,8 @@ void executeDecition(const iv::brain::decition &decition)
         SetMsgSignal("ECU_23F","APA_SteeringAngleReqProtection",gnAPAstate);
         SetMsgSignal("ECU_23F","APA_ErrorStatus",0);
         SetMsgSignal("ECU_23F","APA_SteeringAngleReq",fWheelAngleReq);
+        SetMsgSignal("ECU_1B2","ACC_LatAngReqActive",0);
+
 
 
     }
@@ -181,6 +196,7 @@ void executeDecition(const iv::brain::decition &decition)
         SetMsgSignal("ECU_23F","APA_ErrorStatus",0);
         SetMsgSignal("ECU_23F","APA_SteeringAngleReq",fWheelAngleReq);
 
+
     }
 
     if(decition.brake()<(-5.0))