From 815ea18d897111c4bf70861277acf94201ccf60a Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期五, 14 十月 2022 16:25:59 +0800
Subject: [PATCH] V1.72 增加滤波器 增加频率可调
---
源码/核心板/Src/application/dw_app.c | 8 +++++++-
1 files changed, 7 insertions(+), 1 deletions(-)
diff --git "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c" "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c"
index 7858417..72fcfc2 100644
--- "a/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/Src/application/dw_app.c"
+++ "b/\346\272\220\347\240\201/\346\240\270\345\277\203\346\235\277/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;
--
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