From 2b83305eb9e24d10dbead20365146813b2c82006 Mon Sep 17 00:00:00 2001
From: xinyang <lloi_yang@sjtu.edu.cn>
Date: Sat, 3 Aug 2019 23:16:32 +0800
Subject: [PATCH] fix bug.

---
 armor/src/armor_finder/anti_top/anti_top.cpp | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/armor/src/armor_finder/anti_top/anti_top.cpp b/armor/src/armor_finder/anti_top/anti_top.cpp
index c3463f0..985cbed 100644
--- a/armor/src/armor_finder/anti_top/anti_top.cpp
+++ b/armor/src/armor_finder/anti_top/anti_top.cpp
@@ -88,7 +88,7 @@ void ArmorFinder::antiTop() {
         LOGM(STR_CTR(WORD_YELLOW, "switch to normal"));
     }
 //    cout << getPointLength(last_box.getCenter() - target_box.getCenter()) << endl;
-    if (getPointLength(last_box.getCenter() - target_box.getCenter()) > last_box.rect.height * 1.0) {
+    if (getPointLength(last_box.getCenter() - target_box.getCenter()) > last_box.rect.height * 2.0) {
         LOGM("switch!");
         if (150 < interval && interval < 700) {
             if (anti_top_state == ANTI_TOP) {
@@ -98,6 +98,7 @@ void ArmorFinder::antiTop() {
                 getsystime(curr_time);
                 auto calculate_time = getTimeIntervalms(curr_time, frame_time);
                 shoot_delay = mean(top_periodms) - calculate_time;
+                sendBoxPosition(shoot_delay);
             } else {
                 if (++anti_top_cnt > 4) {
                     anti_top_state = ANTI_TOP;
@@ -110,7 +111,7 @@ void ArmorFinder::antiTop() {
     if (anti_top_state == NORMAL) {
         sendBoxPosition(0);
     } else if (interval < top_periodms[-1] * 0.2){
-        sendBoxPosition(shoot_delay);
+        sendBoxPosition(0);
     }
     last_box = target_box;
 }