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
22 lines
732 B
Plaintext
22 lines
732 B
Plaintext
# code_drone-test Python 依赖
|
|
# 扫描自全仓库 .py 文件的实际 import(2026-09-22)
|
|
|
|
# ---- 运行时核心 ----
|
|
numpy # target_tracker 卡尔曼滤波 / stereo_yolo sbs 拆分
|
|
opencv-python # camera.py / camera_test.py / video_test.py / demo_stereo_yolo.py (cv2)
|
|
|
|
# ---- 检测推理(stereo_yolo,真实推理才加载,torch 为其依赖) ----
|
|
ultralytics
|
|
|
|
# ---- 飞控通信(MAVSDK offboard -> PX4) ----
|
|
mavsdk # test.py / demo_track_control.py / pod_bridge.px4_gateway
|
|
|
|
# ---- 吊舱串口(pod_bridge.pod_serial,惰性导入) ----
|
|
pyserial
|
|
|
|
# ---- 可视化(test.py 轨迹绘图) ----
|
|
matplotlib
|
|
|
|
# ---- 测试 ----
|
|
pytest # utils/tests 全量单测(256 条)
|