diff --git a/Drivers/Filter/LowPassFilter.c b/Drivers/Filter/LowPassFilter.c
index 49c4da5..f4879c8 100644
--- a/Drivers/Filter/LowPassFilter.c
+++ b/Drivers/Filter/LowPassFilter.c
@@ -10,14 +10,44 @@ void initLowPassFilter(SL_LowPassFilter* filter, float alpha)
     filter->alpha = alpha;
     // 初始化上一次的输出值为0
     filter->previous = 0.0f;
+    
+    filter->x = 0;
+    filter->times = 0;
 }
 
 // 更新滤波器输出值
 float updateFilter(SL_LowPassFilter* filter, float new_input) 
 {
-    // 更新滤波后的值
-    float output = (1.0f - filter->alpha) * filter->previous + filter->alpha * new_input;
+    // 滤波新值
+    float filtedData = (1.0f - filter->alpha) * filter->previous + filter->alpha * new_input;
+    
+    //差值大于一定值认为有问题，暂定4
+    if((filter->x) - filtedData > 4 || (filtedData) - filter->x > 4 )
+    {
+//        将有问题的值存起来
+        (filter->x) = filtedData;
+//        使用上一次的正确值当结果
+        filtedData = filter->previous;
+//        清空计数
+        filter->times = 0;
+    }else
+    {
+//        差值在允许范围内
+//        差值合理一定时间后认为数据没问题
+        if(filter->times < 3)
+        {
+            filter->times++;
+//            没满足次数,使用旧值
+            filtedData = filter->previous;
+        }
+        else
+        {
+//            将值存起来，直接使用滤波后的值
+            (filter->x) = filtedData;
+        }
+    }
+    
     // 更新上一次的输出值
-    filter->previous = output;
-    return output;
+    filter->previous = filtedData;
+    return filtedData;
 }
\ No newline at end of file
diff --git a/Drivers/Filter/LowPassFilter.h b/Drivers/Filter/LowPassFilter.h
index 53fa63b..00d2d91 100644
--- a/Drivers/Filter/LowPassFilter.h
+++ b/Drivers/Filter/LowPassFilter.h
@@ -9,6 +9,8 @@
 typedef struct {
     float alpha;      // 滤波器系数
     float previous;   // 上一次的输出值
+    float x;          // 上一次的输入值
+    uint8_t times;          // 次数
 } SL_LowPassFilter;
 
 extern SL_LowPassFilter low_pass_filter_x;