From 707288bb61db9546be392d94ea5636139c52750e Mon Sep 17 00:00:00 2001
From: russian_proger <sagitov.2806@mail.ru>
Date: Sun, 31 May 2026 17:58:32 +0300
Subject: [PATCH] fix: external radius

---
 autopilot.py | 10 ++++++++--
 1 file changed, 8 insertions(+), 2 deletions(-)

diff --git a/autopilot.py b/autopilot.py
index 7a08e00..67fa275 100644
--- a/autopilot.py
+++ b/autopilot.py
@@ -105,7 +105,7 @@ class AutoPilot(Pilot):
         self.points = points
         self.target_idx = 0
         self.target_reached_threshold = 5
-        self.direct_step_threshold = 35
+        self.direct_step_threshold = 15
 
         self.timer = Timer()
         self.chunk_points = np.array([[chunk.pos.x, chunk.pos.y] for chunk in self.chunks])
@@ -410,7 +410,13 @@ class AutoPilot(Pilot):
             angle_diff -= 2 * math.pi
 
         if distance_to_target < self.direct_step_threshold:
-            return PilotCommand(angle_diff, distance_to_target, False, self.timer.get_elapsed())
+            d_a_limit = np.radians(5)
+            return PilotCommand(
+                max(min(d_a_limit, angle_diff), -d_a_limit),
+                distance_to_target,
+                False,
+                self.timer.get_elapsed()
+            )
 
         # Проверка на слепую зону
         R = 120