keita
477ad5f5de
- 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
109 lines
2.6 KiB
Python
109 lines
2.6 KiB
Python
"""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）。
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吊舱自带 CPU 完成目标解算；本包只做双向搬运 + 格式转换：
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PX4 遥测(姿态/经纬度/时间) → 表3(EB 91) 串口下发吊舱
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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
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当前含纯协议编解码层 protocol（四帧 encode/decode + FrameParser）、地理位置
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引导律 guidance（载机位置 + 目标经纬度 → offboard 速度/航向）、配置 config
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（BridgeConfig + load_from_json）、飞控侧网关 px4_gateway（读 PX4 遥测 +
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复用 MavsdkCommandGateway 发 offboard 指令）、吊舱侧串口 pod_serial（PodSerial
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+ PodLink 接口）、闭环主循环 bridge（PodBridge）；均可 mock 单测，无硬件依赖。
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"""
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from .bridge import PodBridge
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from .config import (
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BridgeConfig,
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LinkConfig,
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PodSerialConfig,
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Px4Config,
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load_from_json,
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)
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from .guidance import (
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GuidanceConfig,
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GuidanceInput,
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GuidanceLaw,
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haversine_distance_m,
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initial_bearing_deg,
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)
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from .pod_serial import PodLink, PodSerial
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from .protocol import (
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ALT_SCALE,
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ANGLE_SCALE,
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ATTITUDE_LEN,
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CONTROL_LEN,
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CarrierAttitude,
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ControlCode,
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ControlCommand,
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FrameParser,
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LATLON_SCALE,
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RANGE_SCALE,
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RATE_SCALE,
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SPEED_SCALE,
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SYNC_ATTITUDE,
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SYNC_CONTROL,
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SYNC_TARGET,
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SYNC_TELEMETRY,
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TARGET_LEN,
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TELEMETRY_LEN,
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Telemetry,
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TargetGeo,
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checksum,
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decode_attitude,
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decode_control,
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decode_target,
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decode_telemetry,
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encode_attitude,
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encode_control,
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encode_target,
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encode_telemetry,
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)
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from .px4_gateway import OwnState, Px4Gateway
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__all__ = [
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"ALT_SCALE",
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"ANGLE_SCALE",
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"ATTITUDE_LEN",
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"BridgeConfig",
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"CONTROL_LEN",
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"CarrierAttitude",
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"ControlCode",
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"ControlCommand",
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"FrameParser",
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"GuidanceConfig",
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"GuidanceInput",
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"GuidanceLaw",
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"LATLON_SCALE",
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"LinkConfig",
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"OwnState",
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"PodBridge",
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"PodLink",
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"PodSerial",
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"PodSerialConfig",
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"Px4Config",
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"Px4Gateway",
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"RANGE_SCALE",
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"RATE_SCALE",
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"SPEED_SCALE",
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"SYNC_ATTITUDE",
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"SYNC_CONTROL",
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"SYNC_TARGET",
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"SYNC_TELEMETRY",
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"TARGET_LEN",
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"TELEMETRY_LEN",
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"Telemetry",
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"TargetGeo",
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"checksum",
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"decode_attitude",
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"decode_control",
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"decode_target",
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"decode_telemetry",
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"encode_attitude",
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"encode_control",
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"encode_target",
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"encode_telemetry",
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"haversine_distance_m",
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"initial_bearing_deg",
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"load_from_json",
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]
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