From 2f058ec421172a7950d24b5b2d9dd7d88c94e619 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期六, 07 十一月 2020 17:39:36 +0800
Subject: [PATCH] Revert "V1.34 增加滤波 防撞1对10发货"
---
源码/核心板/Src/application/dw_app.c | 18 +++++-------------
1 files changed, 5 insertions(+), 13 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 767770f..bbdefa4 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"
@@ -1,6 +1,5 @@
#include "dw_app.h"
#include "ADC.h"
-#define TDFILTER
enum enumtagstate
{
DISCPOLL,
@@ -918,7 +917,7 @@
tof = tof_dtu * DWT_TIME_UNITS;
distance = tof * SPEED_OF_LIGHT;//距离=光速*飞行时间
dist_no_bias = distance - dwt_getrangebias(config.chan, (float)distance, config.prf); //距离减去矫正系数
- dist_cm = dist_no_bias * 1000; //dis 为单位为cm的距离
+ dist_cm = dist_no_bias * 100; //dis 为单位为cm的距离
/*--------------------------以下为非测距逻辑------------------------*/
//dist_cm=33000;
getrange_success = 1;
@@ -926,21 +925,14 @@
dis_after_filter=dist_cm;
hex_dist = dist_cm+(int16_t)g_com_map[DIST_OFFSET];
g_flag_Taggetdist[taglist_pos]=0;
- if(hex_dist>-10000&&hex_dist<2000000)
+ if(hex_dist>-1000&&hex_dist<200000)
{
- if(abs(hex_dist-his_dist[taglist_pos])<15000||misdist_num[taglist_pos]>3)
+ if(abs(hex_dist-his_dist[taglist_pos])<1500||misdist_num[taglist_pos]>3)
{
- int32_t filter_dist;
- #ifdef TDFILTER
- NewTrackingDiffUpdate(taglist_pos, (float)hex_dist);
- filter_dist=pos_predict[taglist_pos]/10;
- #else
- filter_dist=hex_dist/10;
- #endif
misdist_num[taglist_pos]=0;
- tagdist_list[taglist_pos] = filter_dist;
+ tagdist_list[taglist_pos] = hex_dist;
his_dist[taglist_pos]=hex_dist;
- g_Tagdist[taglist_pos]=filter_dist;
+ g_Tagdist[taglist_pos]=hex_dist;
#ifndef USART_INTEGRATE_OUTPUT
usart_send[2] = 1;//正常模式
usart_send[3] = 17;//数据段长度
--
Gitblit v1.9.3