V1.72 增加滤波器 增加频率可调

zhyinch

2022-10-14 815ea18d897111c4bf70861277acf94201ccf60a

 源码/核心板/Src/application/dw_app.c

@@ -939,6 +939,7 @@
u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,getrange_success=0;
int32_t filter_dist,filter_speed;
u8 newmeasure,recpoll_len;
float fiter_p;
u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase  1 first near_base
{
   u8 motorstate;
@@ -1079,7 +1080,12 @@
                        //filter_speed = vel_predict[taglist_pos];
                        newmeasure = 1;
                  #else
                  filter_dist=hex_dist/10;
                        if(tagdist_list[taglist_pos]>0&&tagdist_list[taglist_pos]<50000)
                  {
                            filter_dist=(hex_dist/10)*fiter_p+(1-fiter_p)*tagdist_list[taglist_pos];
                        }else{
                            filter_dist = hex_dist/10;
                        }
                  #endif
                  misdist_num[taglist_pos]=0;
               tagdist_list[taglist_pos] = filter_dist;