增加跟踪微分器

zhyinch

2019-12-15 d56da5b9006bfb55a4c7ae2dbb00c026fa3148ae

 源码/核心板/Src/application/dw_app.c

@@ -474,6 +474,7 @@
}
int8_t correction_time;
extern uint8_t sync_seq;
#define TDFILTER

void Anchor_App(void)
{
@@ -623,6 +624,10 @@
                  g_Tagdist[tag_id_recv-TAG_ID_START] = hex_dist;
                  anchor_dist_last_frm[tag_id_recv-TAG_ID_START] = hex_dist;
                  g_Tagdist[tag_id_recv]=   hex_dist;
                  #ifdef TDFILTER
                  TrackingDiffUpdate(pUWBDistanceTrackingDiff, (float)hex_dist);
                  hex_dist=pUWBDistanceTrackingDiff->pos_predict;
                  #endif
               }
               his_dist[tag_id_recv-TAG_ID_START]=hex_dist;
               g_flag_Taggetdist[tag_id_recv]=0;