精简仓库结构并增强任务链路：归档双目可选后端、新增LOS判据与自定义返航

归档 legacy/：stereo_yolo/stereo_ranger/target_tracker 三包 + 175 条测试 + demo/配置/权重/三份规格；运行链路不再依赖，默认 pytest 446 条，归档测试按需运行。

目标有效性第二判据改为 LOS 运动学一致性（pod_bridge/los_consistency.py），删除 require_vision；pod_locked() 叠加该判据，状态机随之后退重搜。

自定义返航（task_runner/return_home.py）：保持转场高度回起飞点 → 恢复初始航向 → 垂直降落，不再爬 RTL_RETURN_ALT；未起飞/无起飞点/超时/异常仍退回 PX4 原生 RTL。

任务链安全兜底：主循环异常→紧急返航、stop 幂等、landing_stop 保留遥测、in_air 流复用+超时、解锁/起飞与吊舱识别仅执行一次、rtl_timeout 上限。

入口共享件拆到 utils/sitl_support.py；pod_sitl_test.py→l1_sitl_test.py；删除旧架构 test.py；相机脚本移入 tools/。

新增 .gitignore 并剔除历史误跟踪的 59 个 .pyc；requirements 按实际依赖重写；文档全面对齐，新增 legacy/README.md 与 tools/README.md。

ground_station/templates/index.html

@@ -23,6 +23,11 @@
   button { margin-top:12px; padding:9px 16px; border:none; border-radius:6px;
            background:var(--green); color:var(--green-ink); font-size:14px; cursor:pointer; }
   button:active { opacity:.85; }
+  button.sec { background:#5b6a5e; }
+  button.danger { background:var(--red); color:#fff; }
+  .btn-row { display:flex; flex-wrap:wrap; gap:8px; }
+  .btn-row button { margin-top:0; flex:1 1 auto; }
+  input[type=checkbox] { width:auto; }
   .kv { display:flex; justify-content:space-between; padding:5px 0;
         border-bottom:1px dashed var(--line); font-size:13px; }
   .kv:last-child { border-bottom:none; }
@@ -33,27 +38,97 @@
   .badge.warn { background:var(--red); color:#fff; }
   canvas { background:#0e1410; border-radius:8px; display:block; }
   .hint { color:var(--mut); font-size:12px; margin-top:8px; }
+  .nav { margin-top:8px; font-size:13px; }
+  .nav a { color:var(--green); text-decoration:none; margin-right:14px; }
+  .nav a.active { color:var(--ink); font-weight:600; text-decoration:underline; }
+  select { width:100%; padding:8px; border:1px solid var(--line); border-radius:6px;
+           font-size:14px; background:#fff; color:var(--ink); }
+  .badge.mut { background:#c9c3b2; color:#4a514a; }
+  .log-list { max-height:300px; overflow:auto; font-size:12.5px;
+              font-family:Consolas,"Courier New",monospace; border:1px solid var(--line);
+              border-radius:8px; padding:8px 10px; }
+  .log-line { padding:2px 0; border-bottom:1px dashed var(--line); word-break:break-all; }
+  .log-line:last-child { border-bottom:none; }
+  .log-t { color:var(--mut); margin-right:6px; }
+  .lv-state { color:var(--green); }
+  .lv-info { color:#3a6ea5; }
+  .lv-warn { color:#b06a2a; }
+  .lv-err { color:var(--red); }
 </style>
 </head>
 <body>
 <header>
   <h1>地面站 · 预定流程</h1>
-  <div class="sub">地面坐标注入 + 状态可视化（临时测试用）</div>
+  <div class="sub">坐标注入 + 任务/吊舱控制 + 状态可视化（临时测试用）</div>
+  <nav class="nav"><a class="active" href="/">主页面</a><a href="/px4">PX4 信息</a></nav>
 </header>
 
 <div class="wrap">
+  <div class="col">
+    <h2>链路目标 <span class="badge" id="link-badge">-</span></h2>
+    <label>坐标与命令经 UDP 发往此地址</label>
+    <select id="link-sel"></select>
+    <input id="link-custom" type="text" placeholder="自定义 IP，如 192.168.144.10" style="display:none;margin-top:8px">
+    <button onclick="applyLink()">切换目标</button>
+    <div class="hint" id="link-msg">默认「本地回环」= 本机跑仿真/runner；真机可切到机载或伴侣机 IP。</div>
+  </div>
+
   <div class="col">
     <h2>坐标注入</h2>
-    <label>纬度 lat</label>
+    <label>坐标形式</label>
+    <select id="coord-mode" onchange="applyCoordMode()">
+      <option value="geo">经纬度（绝对）</option>
+      <option value="local">局部坐标（相对原点，北/东 米）</option>
+    </select>
+    <div id="origin-row" style="display:none">
+      <label>局部原点</label>
+      <select id="origin-mode">
+        <option value="current">以当前坐标为原点（注入时刻无人机位置）</option>
+        <option value="home">以起飞点（home）为原点（本次运行起始位置）</option>
+      </select>
+    </div>
+    <label id="lbl-a">纬度 lat</label>
     <input id="lat" type="text" value="47.398241" placeholder="如 47.398241">
-    <label>经度 lon</label>
+    <label id="lbl-b">经度 lon</label>
     <input id="lon" type="text" value="8.546363" placeholder="如 8.546363">
     <label>高度 alt (m)</label>
     <input id="alt" type="text" value="0">
-    <button onclick="sendInject()">注入坐标</button>
+    <button id="inject-btn" onclick="sendInject()">注入坐标</button>
+    <div class="hint">局部坐标按选定原点换算（起飞前注入即为起飞点；「当前坐标」模式随注入时刻无人机位置变化）。</div>
+    <label style="display:flex;align-items:center;gap:6px;margin-top:10px">
+      <input type="checkbox" id="cont" onchange="toggleContinuous()">
+      持续注入（服务端每 0.5s 自动重发）
+    </label>
+    <div class="hint">坐标须持续注入：断流超过 5s 判失效（任务将返航）。持续注入由服务端执行，
+      切窗口/最小化不受影响；取消勾选或关闭地面站程序才停止。</div>
     <div class="hint" id="inject-msg"></div>
   </div>
 
+  <div class="col">
+    <h2>任务控制</h2>
+    <div class="btn-row">
+      <button onclick="sendCmd('rtl', '确认请求返航（RTL）？')">请求返航 RTL</button>
+      <button class="danger" onclick="sendCmd('emergency', '确认紧急终止（立即返航）？')">紧急终止</button>
+    </div>
+    <div class="hint">RTL = 人工返航请求；紧急 = 最高优先级立即返航（均经 UDP 下发到 runner）。</div>
+    <div class="hint" id="cmd-msg-t"></div>
+  </div>
+
+  <div class="col">
+    <h2>吊舱控制</h2>
+    <div class="btn-row">
+      <button class="sec" onclick="sendCmd('pod_detect_on')">开识别</button>
+      <button class="sec" onclick="sendCmd('pod_auto_lock')">自动锁定</button>
+      <button class="sec" onclick="sendCmd('pod_stop_track')">停跟踪</button>
+      <button class="sec" onclick="sendCmd('pod_detect_off')">关识别</button>
+      <button class="sec" onclick="sendCmd('pod_center')">归中</button>
+    </div>
+    <div class="hint">对齐 pod_console 按键：开识别 d(0x07+0x0F) / 自动锁定 a(0x0F+0x10) /
+      停跟踪 u(0x0E，仅解当前锁，0x0F 自动锁定仍常驻) / 关识别 s(0x0E+0x08，彻底退出) / 归中 c(0x2B)</div>
+    <div class="hint">真机经 runner → 吊舱串口下发；SITL 无吊舱控制口，命令将被忽略。</div>
+    <div class="hint" id="cmd-msg-p"></div>
+  </div>
+
   <div class="col">
     <h2>任务状态 <span class="badge" id="state">-</span></h2>
     <div class="kv"><span class="k">位置</span><span class="v" id="pos">-</span></div>
@@ -65,28 +140,108 @@
     <div class="hint" id="log-dir"></div>
   </div>
 
+  <div class="col" style="flex:1 1 400px">
+    <h2>任务日志 <span class="badge mut" id="log-count">0</span></h2>
+    <div class="log-list" id="log-list"><div class="log-line">加载中…</div></div>
+    <div class="hint">阶段切换 / 地面站命令 / 飞控状态（STATUSTEXT 警告）实时滚动</div>
+  </div>
+
   <div class="col">
     <h2>模拟视野（脱靶量）</h2>
     <canvas id="view" width="300" height="200"></canvas>
     <div class="hint">十字线 = 视野中心，红点 = 目标（按吊舱脱靶量映射）</div>
   </div>
+
+  <div class="col">
+    <h2>吊舱视频 <span class="badge" id="vid-badge">-</span></h2>
+    <img id="vid" alt="吊舱视频流" style="display:none; width:320px; border-radius:8px; background:#0e1410">
+    <div class="hint" id="vid-hint">检测中…</div>
+  </div>
 </div>
 
 <script>
 const FOV_H = 60, FOV_V = 35;
+let vidReloadAt = 0;
 
 function $(id){ return document.getElementById(id); }
 
+function applyCoordMode(){
+  const local = $("coord-mode").value === "local";
+  $("origin-row").style.display = local ? "block" : "none";
+  $("lbl-a").textContent = local ? "北向偏移 north (m)" : "纬度 lat";
+  $("lbl-b").textContent = local ? "东向偏移 east (m)" : "经度 lon";
+  $("lat").value = local ? "30" : "47.398241";
+  $("lon").value = local ? "15" : "8.546363";
+  $("lat").placeholder = local ? "如 30（北为正）" : "如 47.398241";
+  $("lon").placeholder = local ? "如 15（东为正）" : "如 8.546363";
+  $("inject-btn").textContent = local ? "注入局部坐标" : "注入坐标";
+}
+
 async function sendInject(){
-  const lat = $("lat").value, lon = $("lon").value, alt = $("alt").value || "0";
+  const local = $("coord-mode").value === "local";
+  const a = $("lat").value, b = $("lon").value, alt = $("alt").value || "0";
   const msg = $("inject-msg");
+  const body = local
+    ? {north_m: Number(a), east_m: Number(b), alt: Number(alt),
+       origin: $("origin-mode").value}
+    : {lat: Number(a), lon: Number(b), alt: Number(alt)};
   try {
     const r = await fetch("/api/inject", {
       method:"POST", headers:{"Content-Type":"application/json"},
-      body: JSON.stringify({lat:Number(lat), lon:Number(lon), alt:Number(alt)})
+      body: JSON.stringify(body)
     });
     const j = await r.json();
-    msg.textContent = j.ok ? `已注入 (${j.sent.lat}, ${j.sent.lon})` : `失败: ${j.error}`;
+    if (j.ok) {
+      if (local && j.local){
+        const orgLabel = j.local.origin === "home" ? "起飞点" : "当前坐标";
+        msg.textContent = `已注入（局部 北${j.local.north_m}m/东${j.local.east_m}m → `
+          + `${j.sent.lat.toFixed(6)}, ${j.sent.lon.toFixed(6)}；`
+          + `原点(${orgLabel}) ${j.local.origin_lat.toFixed(6)}, ${j.local.origin_lon.toFixed(6)}）`;
+      } else {
+        msg.textContent = `已注入 (${j.sent.lat}, ${j.sent.lon})`;
+      }
+      msg.style.color = "var(--green)";
+    } else {
+      msg.textContent = `失败: ${j.error}`;
+      msg.style.color = "var(--red)";
+    }
+  } catch(e){ msg.textContent = "请求失败: "+e; msg.style.color = "var(--red)"; }
+}
+
+async function toggleContinuous(){
+  const on = $("cont").checked;
+  const msg = $("inject-msg");
+  try {
+    const r = await fetch("/api/continuous", {
+      method:"POST", headers:{"Content-Type":"application/json"},
+      body: JSON.stringify({on})
+    });
+    const j = await r.json();
+    if (!j.ok) {
+      $("cont").checked = !on;          // 失败回滚勾选
+      msg.textContent = `失败: ${j.error}`;
+      msg.style.color = "var(--red)";
+      return;
+    }
+    msg.textContent = j.continuous ? "持续注入中（服务端发送，每 0.5s）" : "已停止持续注入";
+    msg.style.color = j.continuous ? "var(--green)" : "var(--mut)";
+  } catch(e){
+    $("cont").checked = !on;
+    msg.textContent = "请求失败: "+e;
+    msg.style.color = "var(--red)";
+  }
+}
+
+async function sendCmd(cmd, ask){
+  if (ask && !confirm(ask)) return;
+  const msg = (cmd==="rtl" || cmd==="emergency") ? $("cmd-msg-t") : $("cmd-msg-p");
+  try {
+    const r = await fetch("/api/command", {
+      method:"POST", headers:{"Content-Type":"application/json"},
+      body: JSON.stringify({cmd})
+    });
+    const j = await r.json();
+    msg.textContent = j.ok ? `已发送: ${j.sent.cmd}` : `失败: ${j.error}`;
     msg.style.color = j.ok ? "var(--green)" : "var(--red)";
   } catch(e){ msg.textContent = "请求失败: "+e; msg.style.color = "var(--red)"; }
 }
@@ -126,10 +281,142 @@ async function poll(){
     $("mode").textContent = t.mode || "-";
     $("cmd").textContent = t.yaw_rate_dps ? `${fmt(t.yaw_rate_dps,1)}°/s / ${fmt(t.vx_body_mps,2)} m/s` : "-";
     $("log-dir").textContent = "日志: " + (j.log_dir || "-");
+    // 持续注入开关与服务端同步（刷新/多标签时不失真）
+    if (typeof j.continuous === "boolean" && $("cont").checked !== j.continuous) {
+      $("cont").checked = j.continuous;
+      const m = $("inject-msg");
+      m.textContent = j.continuous ? "持续注入中（服务端发送，每 0.5s）" : "";
+      m.style.color = j.continuous ? "var(--green)" : "var(--mut)";
+    }
+    // 吊舱视频面板：状态徽标 + 断流自动重挂（限频 5s，避免打断重连）
+    const v = j.video || {};
+    const img = $("vid"), badge = $("vid-badge");
+    if (!v.enabled) {
+      img.style.display = "none";
+      badge.textContent = "未配置"; badge.className = "badge warn";
+      $("vid-hint").textContent = "服务端未配置视频源（--rtsp-url）";
+    } else {
+      img.style.display = "block";
+      badge.textContent = v.online ? "在线" : "断流";
+      badge.className = "badge" + (v.online ? "" : " warn");
+      $("vid-hint").textContent = v.online
+        ? "服务端 RTSP → MJPEG 实时画面"
+        : "视频流中断，自动重连中…";
+      const now = Date.now(), src = img.getAttribute("src");
+      if (!v.online) {
+        if (!src || now - vidReloadAt > 5000) { img.src = "/video_feed?t=" + now; vidReloadAt = now; }
+      } else if (!src) {
+        img.src = "/video_feed";
+      }
+    }
+    // 任务日志面板（阶段切换 / 地面站命令 / 飞控状态）
+    renderTaskLog(j.events || []);
     drawView(parseFloat(t.off_target_x_deg), parseFloat(t.off_target_y_deg));
   } catch(e){ /* 后端未起时静默 */ }
 }
 
+// ============================================================ 链路目标
+let linkPopulated = false;
+
+async function loadLink(){
+  try {
+    const r = await fetch("/api/link");
+    const j = await r.json();
+    $("link-badge").textContent = `${j.host}:${j.port}`;
+    if (linkPopulated) return;
+    const sel = $("link-sel");
+    sel.innerHTML = "";
+    for (const o of j.options){
+      const opt = document.createElement("option");
+      opt.value = o.host;
+      opt.textContent = `${o.label}（${o.host}）`;
+      sel.appendChild(opt);
+    }
+    const c = document.createElement("option");
+    c.value = "__custom__"; c.textContent = "自定义…";
+    sel.appendChild(c);
+    sel.value = j.host;
+    if (sel.value !== j.host){          // 当前目标不在列表 → 自定义项承载
+      sel.value = "__custom__";
+      $("link-custom").value = j.host;
+      $("link-custom").style.display = "block";
+    }
+    sel.onchange = () => {
+      $("link-custom").style.display = sel.value === "__custom__" ? "block" : "none";
+    };
+    linkPopulated = true;
+  } catch(e){ /* 后端未起时静默 */ }
+}
+
+async function applyLink(){
+  const sel = $("link-sel");
+  const host = sel.value === "__custom__" ? $("link-custom").value.trim() : sel.value;
+  const msg = $("link-msg");
+  try {
+    const r = await fetch("/api/link", {
+      method:"POST", headers:{"Content-Type":"application/json"},
+      body: JSON.stringify({host})
+    });
+    const j = await r.json();
+    msg.textContent = j.ok ? `已切换到 ${j.host}:${j.port}` : `失败: ${j.error}`;
+    msg.style.color = j.ok ? "var(--green)" : "var(--red)";
+    if (j.ok) $("link-badge").textContent = `${j.host}:${j.port}`;
+  } catch(e){ msg.textContent = "请求失败: " + e; msg.style.color = "var(--red)"; }
+}
+
+// ============================================================ 任务日志
+const STATE_CN = {
+  wait: "待命", arm_takeoff: "起飞", goto: "坐标引导", track: "追踪",
+  approach: "接近悬停", rtl: "返航"
+};
+let lastLogKey = "";
+
+function fmtT(t){
+  if (t === null || t === undefined) return "--:--.-";
+  const m = Math.floor(t / 60), s = t % 60;
+  return String(m).padStart(2, "0") + ":" + s.toFixed(1).padStart(4, "0");
+}
+
+function evLine(e){
+  if (e.type === "state"){
+    const a = STATE_CN[e.from_state] || e.from_state || "?";
+    const b = STATE_CN[e.to_state] || e.to_state || "?";
+    return { cls: "lv-state", txt: `阶段切换: ${a} → ${b}（${e.reason || ""}）` };
+  }
+  if (e.type === "command") return { cls: "lv-info", txt: `地面站命令: ${e.name}` };
+  if (e.type === "fc_status"){
+    const sev = String(e.severity || "").toUpperCase();
+    const cls = sev.includes("ERR") ? "lv-err" : (sev.includes("WARN") ? "lv-warn" : "lv-info");
+    return { cls, txt: `飞控 ${sev || "STATUS"}: ${e.text || ""}` };
+  }
+  if (e.type === "takeoff") return { cls: "lv-state", txt: `起飞至 ${e.altitude_m} m` };
+  if (e.type === "takeoff_failed") return { cls: "lv-err", txt: `起飞失败: ${e.error || ""}` };
+  if (e.type === "rtl") return { cls: "lv-state", txt: "开始返航" };
+  const parts = [];
+  for (const [k, v] of Object.entries(e)){
+    if (["type", "ts_ms", "t_s"].includes(k)) continue;
+    parts.push(`${k}=${v}`);
+  }
+  return { cls: "", txt: `${e.type || "事件"}: ${parts.join(", ")}` };
+}
+
+function renderTaskLog(evs){
+  const tail = evs.length ? evs[evs.length - 1] : null;
+  const key = evs.length + "|" + (tail ? `${tail.ts_ms}|${tail.type}` : "");
+  if (key === lastLogKey) return;       // 无变化不重建，避免打断滚动
+  lastLogKey = key;
+  const box = $("log-list");
+  box.innerHTML = evs.length
+    ? evs.map(e => {
+        const l = evLine(e);
+        return `<div class="log-line ${l.cls}"><span class="log-t">${fmtT(e.t_s)}</span>${l.txt}</div>`;
+      }).join("")
+    : '<div class="log-line">暂无事件（等待任务运行）</div>';
+  box.scrollTop = box.scrollHeight;
+  $("log-count").textContent = evs.length;
+}
+
+loadLink();
 poll();
 setInterval(poll, 1000);
 </script>