From 31ee4794fbefac2963dee237aca3519c19218d46 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期六, 14 八月 2021 19:56:55 +0800
Subject: [PATCH] 增加继电器分别控制，增加继电器持续时间控制
---
源码/核心板/Src/application/dw_app.c | 8 ++++++--
1 files changed, 6 insertions(+), 2 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 32db799..17a2dd3 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"
@@ -838,6 +838,8 @@
}
extern u16 dist_threshold;
u8 misdist_num[TAG_NUM_IN_SYS],seize_anchor,getrange_success=0;
+int32_t filter_dist,filter_speed;
+u8 newmeasure;
u8 Anchor_RecNearPoll(u8 ancrec_nearbasepos) //0 mainbase 1 first near_base
{
u8 motorstate;
@@ -943,12 +945,14 @@
{
if(abs(hex_dist-his_dist[taglist_pos])<dist_threshold||misdist_num[taglist_pos]>3)
{
- int32_t filter_dist;
+
g_Resttimer=0;
IWDG_Feed();
#ifdef TDFILTER
NewTrackingDiffUpdate(taglist_pos, (float)hex_dist);
- filter_dist=pos_predict[taglist_pos]/10;
+ filter_dist = pos_predict[taglist_pos]/10;
+ filter_speed = vel_predict[taglist_pos]/10;
+ newmeasure = 1;
#else
filter_dist=hex_dist/10;
#endif
--
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