feat(V4B): 释放手感对齐 PD132T — 释放慢滤波(方案A, 固件 V4.03)

现场金属板测试: 灵敏度表已对齐, 但释放高度 V4B 比 PD132T 低 (刚离开触发位置即释放 vs 需离更远)。根因: IIR 滤波时间常数差异 (V4B 10ms+α79→τ32ms vs PD132T 43.7ms+α79/64→τ142~175ms), 释放阈值浅(进入20%)放大差异。修复(USE_SLOW_RELEASE 开关, 默认 1): - 新增独立慢滤波 loop1_CAPVD_slow(α=18/256 @10ms→τ≈142ms), 吃原始 Value 不经斜率限幅, 复刻 PD132T 恢复速度 - 离开判定改用慢滤波值, 进入路径不变 - RELEASE_ALFA=18 可调(PD132T SET_FLT=ON 时用 15≈τ170ms) - 同步: INIT_VD/稳定期/线圈重连 - 版本 V4.03(顺带修正 cmcng.h 字符串"4.00"与数字 4/2 不一致) 验证: gcc 单测 tests/test_release_slow_filter.c τ fast=30ms/slow=140ms; 释放时机差 260ms ✓ 文档: technical-spec §4.3.3 + devlog V2.12 待板级: 真机金属板测试 + MRS 编译
2026-08-31 16:52:45 +08:00
parent f0f2c29a04
commit 9391e1b808
6 changed files with 172 additions and 3 deletions
@@ -0,0 +1,84 @@
+/*
+ * test_release_slow_filter.c — 方案A 释放慢滤波单测
+ *
+ * 验证: V4B 主滤波(ALFA=79 @10ms, τ≈32ms) vs 释放慢滤波(ALFA=18 @10ms, τ≈142ms)
+ * 在"金属板离开"(信号缓慢恢复)场景下,慢滤波释放时机应显著晚于快滤波,
+ * 从而对齐 PD132T 释放手感。
+ *
+ * 编译: gcc -o /tmp/test_release_slow test_release_slow_filter.c && /tmp/test_release_slow
+ */
+#include <stdio.h>
+#include <stdint.h>
+#include <assert.h>
+#include <math.h>
+
+#define ALFA_FAST     79
+#define ALFA_SLOW     18
+#define TICK_MS       10
+
+/* 与 TaskLoop.c get_flt_value 同构 */
+static uint32_t flt(uint32_t new_v, uint32_t last_v, uint32_t alfa)
+{
+    uint32_t delta = (new_v > last_v) ? (new_v - last_v) : (last_v - new_v);
+    uint32_t scaled = (delta * alfa) >> 8;
+    return (new_v > last_v) ? last_v + scaled : last_v - scaled;
+}
+
+static void test_tau(void)
+{
+    /* 阶跃响应: 从 100000 跳到 99000, 算 63.2% 收敛时间 */
+    uint32_t v_fast = 100000, v_slow = 100000;
+    int t_fast = -1, t_slow = -1;
+    double target_fast = 100000 - 0.632 * 1000;  /* 63.2% of 1000 */
+    double target_slow = 100000 - 0.632 * 1000;
+    for (int t = 1; t <= 100; t++) {
+        v_fast = flt(99000, v_fast, ALFA_FAST);
+        v_slow = flt(99000, v_slow, ALFA_SLOW);
+        if (t_fast < 0 && v_fast <= target_fast) t_fast = t;
+        if (t_slow < 0 && v_slow <= target_slow) t_slow = t;
+    }
+    printf("[tau] fast=%dms slow=%dms (理论 32ms/142ms)\n", t_fast * TICK_MS, t_slow * TICK_MS);
+    assert(t_fast * TICK_MS <= 60);   /* 快滤波 τ < 60ms */
+    assert(t_slow * TICK_MS >= 100);  /* 慢滤波 τ > 100ms */
+    assert(t_slow > t_fast * 3);      /* 慢/快 > 3× */
+    printf("[OK] tau 差异符合预期\n");
+}
+
+static void test_release_timing(void)
+{
+    /* 模拟: Origin=100000, 档0: 进入阈值300→dlt_enter=457, 离开阈值60→dlt_leave=91
+     * 有车: Value=99000(CAPVD 收敛)
+     * 离开: 金属板缓慢上移, 信号每 10ms 恢复 +80(模拟手速)
+     * 释放条件: CAPVD 恢复到 Origin-dlt_leave = 99909 */
+    const uint32_t Origin = 100000;
+    const uint32_t dlt_leave = (Origin * 60) >> 16;   /* = 91 */
+    const uint32_t release_line = Origin - dlt_leave; /* = 99909 */
+
+    uint32_t v_fast = 99000, v_slow = 99000;
+    int rel_fast = -1, rel_slow = -1;
+    uint32_t value = 99000;
+    for (int t = 1; t <= 200; t++) {
+        /* 金属板离开: 信号恢复(每 10ms +80) */
+        value += 80;
+        if (value > Origin) value = Origin;
+        v_fast = flt(value, v_fast, ALFA_FAST);
+        v_slow = flt(value, v_slow, ALFA_SLOW);
+        if (rel_fast < 0 && v_fast >= release_line) rel_fast = t;
+        if (rel_slow < 0 && v_slow >= release_line) rel_slow = t;
+    }
+    printf("[release] fast=%dms slow=%dms 差=%dms\n",
+           rel_fast * TICK_MS, rel_slow * TICK_MS, (rel_slow - rel_fast) * TICK_MS);
+    assert(rel_fast > 0 && rel_slow > 0);
+    assert(rel_slow > rel_fast);   /* 慢滤波释放必晚于快滤波 */
+    assert((rel_slow - rel_fast) * TICK_MS >= 100);  /* 释放延迟差 ≥100ms(等效高度差明显) */
+    printf("[OK] 慢滤波释放显著晚于快滤波, 对齐 PD132T 手感\n");
+}
+
+int main(void)
+{
+    printf("=== 方案A 释放慢滤波单测 ===\n");
+    test_tau();
+    test_release_timing();
+    printf("\n全部通过 ✓\n");
+    return 0;
+}