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feat(V4B): V4.36.32 — 释放后分级补偿: 仿 PD132T 慢采样等效

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用户对比 PD132T: 采样慢→Origin 学习慢→无释放漂移问题
机理确认: update_moving_average 满窗替换(500样本/5s), 10ms 快采样窗装得快
  → 释放后板缓离残余(低 CAPVD)≥5s 会整窗拉低 Origin
- 全冻结 1s: REL_ORIGIN_FREEZE_TICKS 50→100 (残余样本完全不进窗)
- 降权低速补偿 2s: ORIGIN_LOWLEARN_TICKS=200 + MULT=5 (窗500→2500=25s, 速率1/5 ≈132T等效)
- 递减: 冻结结束才递减降权; Car_OFF 两处预置; 均值窗 window 分阶段; INIT 清零
EMA/B3 vac_ref 零影响; 全宏可调
语法0 error, 4测试全绿; spec V2.48 / devlog V2.67
This commit is contained in:
wangfq
2026-09-08 08:19:57 +08:00
parent 17575e8747
commit 5daf508150
5 changed files with 33 additions and 6 deletions
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utilities/at32f421_freertos_demo/inc/cmcng.h
+2 -2
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@@ -14,11 +14,11 @@
#define __CMCNG_H__
#define PRODUCT_MODEL "DLD154"
#define FIRMWARE_VER "4.36.31" // 主.子.修订 (2026-09-03 起: 小改动只增 REV; MAIN/SUB 由产品定)
#define FIRMWARE_VER "4.36.32" // 主.子.修订 (2026-09-03 起: 小改动只增 REV; MAIN/SUB 由产品定)
#define HARDWARE_VER "3.00"
#define FIRMWARE_VER_MAIN 4
#define FIRMWARE_VER_SUB 36
#define FIRMWARE_VER_REV 31
#define FIRMWARE_VER_REV 32
#define HARDWARE_VER_MAIN 3
#define HARDWARE_VER_SUB 0