From 388017aa9902a6b41dbb2adcc7cbd3cd37c38691 Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期四, 21 七月 2022 16:38:14 +0800
Subject: [PATCH] V1.65
---
源码/核心板/Src/application/dw_app.c | 13 +++++++++----
1 files changed, 9 insertions(+), 4 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 67acfdd..b1da7db 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"
@@ -802,6 +802,7 @@
u16 tagid_list[TAG_NUM_IN_SYS];
u8 tagofflinetime[TAG_NUM_IN_SYS];
int32_t tagdist_list[TAG_NUM_IN_SYS];
+u8 tagseq_list[TAG_NUM_IN_SYS];
void TagListUpdate(void)
{
u16 i,j=0,temp[TAG_NUM_IN_SYS];
@@ -955,7 +956,10 @@
}else{
motorstate =0;
}
-
+ if(frame_seq_nb2!=tagseq_list[taglist_pos]+1)
+ {
+ tagdist_list[taglist_pos]=0x1ffff;
+ }
if(new_tagid)
{
tagdist_list[taglist_pos]=0x1ffff;
@@ -1059,13 +1063,13 @@
#ifdef TDFILTER
NewTrackingDiffUpdate(taglist_pos, (float)hex_dist);
filter_dist = pos_predict[taglist_pos]/10;
- filter_speed = vel_predict[taglist_pos]/10;
+ //filter_speed = vel_predict[taglist_pos];
newmeasure = 1;
#else
filter_dist=hex_dist/10;
#endif
misdist_num[taglist_pos]=0;
- tagdist_list[taglist_pos] = filter_dist;
+ tagdist_list[taglist_pos] = filter_dist;
his_dist[taglist_pos]=hex_dist;
if(hex_dist>0)
{
@@ -1073,6 +1077,7 @@
}else{
g_Tagdist[taglist_pos]= 1;
}
+ tagseq_list[taglist_pos] = frame_seq_nb2;
#ifdef USART_SINGLE_OUTPUT
usart_send[2] = 1;//正常模式
usart_send[3] = 17;//数据段长度
@@ -1082,7 +1087,7 @@
if(tagdist_list[taglist_pos]<=0)
tagdist_list[taglist_pos]=10;
memcpy(&usart_send[9],&tagdist_list[taglist_pos],4);
- tagdist_list[taglist_pos] =tagdist_list[taglist_pos]| (battary<<24);
+ tagdist_list[taglist_pos] =tagdist_list[taglist_pos]| (battary<<24);
usart_send[13] = battary;
usart_send[14] = button;
usart_send[15] = firstpath_power;
--
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