From d56da5b9006bfb55a4c7ae2dbb00c026fa3148ae Mon Sep 17 00:00:00 2001
From: zhyinch <zhyinch@gmail.com>
Date: 星期日, 15 十二月 2019 11:08:21 +0800
Subject: [PATCH] 增加跟踪微分器
---
源码/核心板/Src/application/dw_app.c | 5 +++++
1 files changed, 5 insertions(+), 0 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 653b3d7..151b817 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"
@@ -474,6 +474,7 @@
}
int8_t correction_time;
extern uint8_t sync_seq;
+#define TDFILTER
void Anchor_App(void)
{
@@ -623,6 +624,10 @@
g_Tagdist[tag_id_recv-TAG_ID_START] = hex_dist;
anchor_dist_last_frm[tag_id_recv-TAG_ID_START] = hex_dist;
g_Tagdist[tag_id_recv]= hex_dist;
+ #ifdef TDFILTER
+ TrackingDiffUpdate(pUWBDistanceTrackingDiff, (float)hex_dist);
+ hex_dist=pUWBDistanceTrackingDiff->pos_predict;
+ #endif
}
his_dist[tag_id_recv-TAG_ID_START]=hex_dist;
g_flag_Taggetdist[tag_id_recv]=0;
--
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