新增pod_bridge吊舱桥接中间件(树莓派4B部署)

- pod_bridge: 协议G版编解码/地理位置引导律/PX4网关/串口链路/闭环主循环 - 含三项安全修复: position_time_ms拆分、表2-2锁定门控、run()异常护栏 - 测试92条全绿; 附树莓派4B(Ubuntu 24.04)部署注意事项与最小依赖清单
2026-09-23 14:38:23 +08:00
parent 3a8e2c7f4b
commit 477ad5f5de
17 changed files with 2758 additions and 0 deletions
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+"""pod_bridge —— 光电吊舱 ↔ PX4 飞控 协议桥接（规格：docs/光电吊舱控制协议G版-PB.docx）。
+
+吊舱自带 CPU 完成目标解算；本包只做双向搬运 + 格式转换：
+  PX4 遥测(姿态/经纬度/时间) → 表3(EB 91) 串口下发吊舱
+  吊舱 表4(EE 18) 目标经纬度 + 表2-2(EE 16) 遥测 → offboard 速度设定点驱动 PX4 朝目标飞行
+
+当前含纯协议编解码层 protocol（四帧 encode/decode + FrameParser）、地理位置
+引导律 guidance（载机位置 + 目标经纬度 → offboard 速度/航向）、配置 config
+（BridgeConfig + load_from_json）、飞控侧网关 px4_gateway（读 PX4 遥测 +
+复用 MavsdkCommandGateway 发 offboard 指令）、吊舱侧串口 pod_serial（PodSerial
+ PodLink 接口）、闭环主循环 bridge（PodBridge）；均可 mock 单测，无硬件依赖。
+"""
+
+from .bridge import PodBridge
+from .config import (
+    BridgeConfig,
+    LinkConfig,
+    PodSerialConfig,
+    Px4Config,
+    load_from_json,
+)
+from .guidance import (
+    GuidanceConfig,
+    GuidanceInput,
+    GuidanceLaw,
+    haversine_distance_m,
+    initial_bearing_deg,
+)
+from .pod_serial import PodLink, PodSerial
+from .protocol import (
+    ALT_SCALE,
+    ANGLE_SCALE,
+    ATTITUDE_LEN,
+    CONTROL_LEN,
+    CarrierAttitude,
+    ControlCode,
+    ControlCommand,
+    FrameParser,
+    LATLON_SCALE,
+    RANGE_SCALE,
+    RATE_SCALE,
+    SPEED_SCALE,
+    SYNC_ATTITUDE,
+    SYNC_CONTROL,
+    SYNC_TARGET,
+    SYNC_TELEMETRY,
+    TARGET_LEN,
+    TELEMETRY_LEN,
+    Telemetry,
+    TargetGeo,
+    checksum,
+    decode_attitude,
+    decode_control,
+    decode_target,
+    decode_telemetry,
+    encode_attitude,
+    encode_control,
+    encode_target,
+    encode_telemetry,
+)
+from .px4_gateway import OwnState, Px4Gateway
+
+__all__ = [
+    "ALT_SCALE",
+    "ANGLE_SCALE",
+    "ATTITUDE_LEN",
+    "BridgeConfig",
+    "CONTROL_LEN",
+    "CarrierAttitude",
+    "ControlCode",
+    "ControlCommand",
+    "FrameParser",
+    "GuidanceConfig",
+    "GuidanceInput",
+    "GuidanceLaw",
+    "LATLON_SCALE",
+    "LinkConfig",
+    "OwnState",
+    "PodBridge",
+    "PodLink",
+    "PodSerial",
+    "PodSerialConfig",
+    "Px4Config",
+    "Px4Gateway",
+    "RANGE_SCALE",
+    "RATE_SCALE",
+    "SPEED_SCALE",
+    "SYNC_ATTITUDE",
+    "SYNC_CONTROL",
+    "SYNC_TARGET",
+    "SYNC_TELEMETRY",
+    "TARGET_LEN",
+    "TELEMETRY_LEN",
+    "Telemetry",
+    "TargetGeo",
+    "checksum",
+    "decode_attitude",
+    "decode_control",
+    "decode_target",
+    "decode_telemetry",
+    "encode_attitude",
+    "encode_control",
+    "encode_target",
+    "encode_telemetry",
+    "haversine_distance_m",
+    "initial_bearing_deg",
+    "load_from_json",
+]