增加最小距离值，未成功

BSP/insifhtica_QOAR1271.c

@@ -24,11 +24,13 @@ struct mr72_c{
     uint8_t rollcount;
     uint8_t rcs;
 }mr72_c_data;
-struct effective_distance
+typedef struct  effective_distance
 {
     uint16_t dist_cm;
     uint32_t time_ms;
-}eff_distance;
+};
+struct effective_distance eff_distance;
+struct effective_distance min_distance;
 
 uint16_t range_arr[8];
 float last_range;
@@ -206,11 +208,17 @@ bool decode_mr72(int16_t c)
 void data_process(void){
     // 其中一个区块数据更新
     if (proximity1_queueHandle != NULL && HAL_GetTick() - uavcan_data_tick > 100)    // uavcan发送，50ms间隔
-    {            
+    {   
         proximity_t data;
         if (HAL_GetTick() - eff_distance.time_ms < 500)
         {
-            data.d0 = eff_distance.dist_cm;
+            
+            if(min_distance.dist_cm < 10){ // 如果最小值是0，则直接赋值
+                min_distance.dist_cm = eff_distance.dist_cm;
+            }else{
+                min_distance.dist_cm = min_distance.dist_cm <  eff_distance.dist_cm?min_distance.dist_cm :  eff_distance.dist_cm;
+            }
+            data.d0 = min_distance.dist_cm;
         }else{
             data.d0 = 3900;
         }
@@ -223,6 +231,7 @@ void data_process(void){
         data.d315 = 4500;
         myOsMessageQueuePut(proximity1_queueHandle, &data, 0, 10);
         uavcan_data_tick = HAL_GetTick();
+        min_distance.dist_cm = 3800;
     }
 }