version 2, this down of version have delay

liangjianbo/c/footPDR.c

@@ -673,7 +673,7 @@ unsigned char footPDR(int num, float *gyr, float *acc, int press, float* pos_res
 			down_pass1 = 0;
 		}
 		
-		if(fabs(gyr[1]) > 1.5f || fabs(gyr[2]) > 0.5f)
+		if(fabs(gyr[1]) > 1.0f || fabs(gyr[2]) > 0.3f)
 		{
 			down_pass1 = 1;
 		}
@@ -687,7 +687,7 @@ unsigned char footPDR(int num, float *gyr, float *acc, int press, float* pos_res
 			down_pass2 = 0;
 		}
 		
-		if(fabs(gyr[1]) > 1.5f || fabs(gyr[2]) > 0.5f)
+		if(fabs(gyr[1]) > 1.0f || fabs(gyr[2]) > 0.3f)
 		{
 			down_pass2 = 1;
 		}
@@ -741,12 +741,12 @@ unsigned char footPDR(int num, float *gyr, float *acc, int press, float* pos_res
 	
 	//RUN_ZUPT mean detect on floor when running
 	int RUN_ZUPT = 0;
-	if((frame_index > 10 && ZUPT_STATUS == 1 && gyr_norm_window[window_index] < 1.0f))
+	if((frame_index > 10 && ZUPT_STATUS == 1))
 		RUN_ZUPT = 1;
 	
 	//STAND_ZUPT mean detect on floor when no any moving
 	int STAND_ZUPT = 0;
-	if((frame_index > 15 && gyr_norm_window[window_index] < 0.35f && fabs(min_window_val(gyr_norm_window, 10) - max_window_val(gyr_norm_window, 10)) < 0.1f))
+	if((frame_index > 15 && gyr_norm_window[window_index] < 0.5f && fabs(min_window_val(gyr_norm_window, 10) - max_window_val(gyr_norm_window, 10)) < 0.2f))
 		STAND_ZUPT = 1;
 	
 	
@@ -814,13 +814,13 @@ unsigned char footPDR(int num, float *gyr, float *acc, int press, float* pos_res
 	
 	if(HAS_RESULT == 1)
 	{
-		if(pos_offset[1] < -0.2f)
+		if(pos_offset[1] > 0.15f)
 		{
 			movement_e = MOTION_LEFT;
 			HAS_RESULT = 0;
 			
 		}
-		else if(pos_offset[1] > 0.2f)
+		else if(pos_offset[1] < -0.15f)
 		{
 			movement_e = MOTION_RIGHT;
 			HAS_RESULT = 0;
@@ -839,12 +839,12 @@ unsigned char footPDR(int num, float *gyr, float *acc, int press, float* pos_res
 			IS_DOWN = 0;
 
 		}
-		else if(stand_num > 100)
-		{
-			movement_e = MOTION_STOP;
+//		else if(stand_num > 100)
+//		{
+//			movement_e = MOTION_STOP;
 
-			stand_num = 0;
-		}
+//			stand_num = 0;
+//		}
 	}
 	return movement_e;
 }