加了个滤波1

User/lib/kalman.c

@@ -35,7 +35,7 @@ void KalmanCreate(extKalman_t *p,float T_Q,float T_R)
     p->Q = T_Q;
     p->R = T_R;
     p->A = 1;
-	p->B = 0;
+	  p->B = 0;
     p->H = 1;
     p->X_mid = p->X_last;
 }

User/lib/kalman.h

@@ -16,7 +16,7 @@ typedef struct {
     float P_last; //上一时刻最优结果的协方差  P(k-1|k-1)
     float kg;     //kalman增益
     float A;      //系统参数
-	float B;
+	  float B;
     float Q;
     float R;
     float H;

User/task/ballTask.cpp

@@ -21,6 +21,7 @@ void FunctionBall(void *argument)
     (void)argument; /* 未使用argument，消除警告 */
 
     const uint32_t delay_tick = osKernelGetTickFreq() / TASK_FREQ_BALL;
+    ball.Filter_init(TASK_FREQ_BALL);
     uint32_t tick = osKernelGetTickCount();
 		
     while(1)