- better braking in traffic for shadow's driver

2022-11-05 16:55:16 +00:00 · 2022-11-05 16:55:16 +00:00 · 6bac6b687d
parent 1678067a10
commit 6bac6b687d
1 changed files with 2 additions and 0 deletions
--- a/src/drivers/shadow/src/Driver.cpp
+++ b/src/drivers/shadow/src/Driver.cpp
@ -1770,7 +1770,9 @@ void	Driver::SpeedControl4(
            // slip more directly.
            double	MAX_BRK = fabs(k) < 0.0015 ? 0.95 :
                                                 fabs(k) < 0.0035 ? 0.75 : 0.6;
+
            double	err = spd0 - targetSpd;
+            MAX_BRK = MX(0, MN(MAX_BRK + err * 0.5, m_priv[PATH_NORMAL].BRAKE_LIMIT));
            double	t = m_accBrkCoeff.CalcY(err);

            if( t > 0 )