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-rw-r--r--digital/io/src/radar.c2
-rw-r--r--digital/io/src/radar.h6
2 files changed, 6 insertions, 2 deletions
diff --git a/digital/io/src/radar.c b/digital/io/src/radar.c
index 31da7c58..ca815006 100644
--- a/digital/io/src/radar.c
+++ b/digital/io/src/radar.c
@@ -98,7 +98,7 @@ radar_update (const position_t *robot_pos, vect_t *obs_pos)
robot_pos->a + radar_sensors[i].a);
vect_translate (&hit[i], &ray);
valid[i] = radar_valid (hit[i]);
- vect_from_polar_uf016 (&ray, RADAR_OBSTACLE_RADIUS_MM,
+ vect_from_polar_uf016 (&ray, RADAR_OBSTACLE_EDGE_RADIUS_MM,
robot_pos->a + radar_sensors[i].a);
vect_translate (&hit[i], &ray);
}
diff --git a/digital/io/src/radar.h b/digital/io/src/radar.h
index 1e541a28..b4611ec7 100644
--- a/digital/io/src/radar.h
+++ b/digital/io/src/radar.h
@@ -35,8 +35,12 @@
* - determining if an obstacle should make the robot stop.
*/
-/** Estimated obstacle radius. As the sensors detect obstacle edge, this is
+/** Estimated obstacle edge radius. As the sensors detect obstacle edge, this is
* added to position obstacle center. */
+#define RADAR_OBSTACLE_EDGE_RADIUS_MM 40
+
+/** Estimated obstacle radius. The obstacle may be larger than at the
+ * detected edge. */
#define RADAR_OBSTACLE_RADIUS_MM 150
/** Stop distance. Distance under which an obstacle is considered harmful when