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feat(V4B): V4.36.30 — 环带超时兜底: 时间回滞替代空间回滞

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用户反馈 V4.36.29: 抬一点就释放(容差压塌回滞到4) / 反复试探=连续过车?
- 撤 REL_LO_TOL=4: 回滞恢复 8 counts (Origin-49 触发/Origin-41 释放)
- 新增 REL_BAND_TIMEOUT_TICKS=250(2.5s): 低Q 触发后 CAPVD 平滑>进入线
  (已离开触发深度) 持续 2.5s → 强制释放
- 根治'板停空间回滞带内永久卡死'(试探场景); 真实车深压不触发(安全);
  J1 撤板 75s→2.5s; 抬 4 counts 不再立刻释放
- '越来越难释放'机制: 拿起板 Origin 被 env 学高, 试探快于收敛则净升 (远期 env 过冲抑制)
- 低L 灵敏度自适应(进入带回放大)列为下一档评估
语法0 error, 4测试全绿; spec V2.46 / devlog V2.65
This commit is contained in:
wangfq
2026-09-07 16:32:24 +08:00
parent 3ea876b7d9
commit 74512bcf54
5 changed files with 54 additions and 7 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 "4.36.29" // 主.子.修订 (2026-09-03 起: 小改动只增 REV; MAIN/SUB 由产品定)
#define FIRMWARE_VER "4.36.30" // 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 29
#define FIRMWARE_VER_REV 30
#define HARDWARE_VER_MAIN 3
#define HARDWARE_VER_SUB 0