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;