1.0

App/VL53L0X_API/platform/vl53_board.c

@@ -191,9 +191,15 @@ VL53L0X_Error Vl53Board_ReadAll(Vl53Board_t *board, Vl53BoardSnapshot_t *snapsho
                 snapshot->range_status[i] = data.RangeStatus;
 
                 if (data.RangeStatus == 0u) {
-                    /* 2. 标记有效并更新卡尔曼滤波器 */
+                    /* 2. 标记有效并按开关决定是否应用卡尔曼滤波 */
                     snapshot->valid_mask |= (1u << i);
+#if PARAM_VL53_USE_KALMAN_FILTER
                     snapshot->range_mm_filtered[i] = vl53_kalman_update(&board->kf[i], (float)data.RangeMilliMeter);
+#else
+                    snapshot->range_mm_filtered[i] = (float)data.RangeMilliMeter;
+                    board->kf[i].x = (float)data.RangeMilliMeter;
+                    board->kf[i].initialized = 1u;
+#endif
                 } else {
                     /* 测距失败时，滤波值维持上一次的历史最佳估计不变 */
                     snapshot->range_mm_filtered[i] = board->kf[i].x;

App/robot_params.h

@@ -351,6 +351,12 @@ extern "C" {
  */
 #define PARAM_VL53_TIMING_BUDGET    33000U
 
+/** @brief [调试] 是否启用 VL53L0X 端卡尔曼滤波
+ *  1: 使用滤波后的 range_mm_filtered
+ *  0: 直接输出原始测距到 range_mm_filtered，便于做 A/B 对比
+ */
+#define PARAM_VL53_USE_KALMAN_FILTER 1
+
 /** @brief [调优] VL53L0X 卡尔曼滤波参数 Q
  *  含义：测距过程噪声
  *  典型值：5.0~20.0