增加40米异常滤波

zhyinch

2019-12-11 da9ce9541aee3b4f4d55cf114758a44ae98b8b1f

 Ô´Âë/ºËÐÄ°å/Src/application/dw_app.c

@@ -613,7 +613,7 @@
            dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
         }
}

u8 misdist_num;
void Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase  1 first near_base
{
         tmp_time=TIM3->CNT;
@@ -677,10 +677,12 @@
               LED0_BLINK; //每成功一次通讯则闪烁一次
               dis_after_filter=dist_cm;
               hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET];
               if(abs(hex_dist-his_dist[tag_id_recv-TAG_ID_START])<1000)
               if(hex_dist>-1000&&hex_dist<100000)
               {
                  tagdist_list[taglist_pos] = hex_dist;
               }
               if(abs(hex_dist-his_dist[taglist_pos])<1500||misdist_num>3)
               {
                  misdist_num=0;
               tagdist_list[taglist_pos] = hex_dist;	
               his_dist[taglist_pos]=hex_dist;                  
               usart_send[2] = 1;//正常模式
               usart_send[3] = 17;//数据段长度
@@ -693,7 +695,11 @@
               checksum = Checksum_u16(&usart_send[2],17);
               memcpy(&usart_send[19],&checksum,2);
               UART_PushFrame(usart_send,21);
               }else{
                  misdist_num++;
               }
            }
         }
         }else{
            dwt_write32bitreg(SYS_STATUS_ID, SYS_STATUS_ALL_RX_ERR);
         }