2026.6.10小更新

config.json

@@ -16,6 +16,9 @@
         "connection_string": "/dev/ttyUSB0",
         "baud_rate": 57600
     },
+    "fc_info":{
+        "type": "ardupilot"
+    },
     "pid_y": {
         "kp": 1.0,
         "ki": 0.02,

drone_controller/mission_manager.py

@@ -85,7 +85,7 @@ class MissionManager:
                 print(f"[INIT] 起始点坐标: ({self.home_x:.2f}, {self.home_y:.2f}, {self.home_z:.2f})")
                 print("[INIT] 正在下发 GUIDED/OFFBOARD 模式并尝试解锁...")
 
-                target_mode = 'GUIDED' if 'guided' in self.drone.current_mode.lower() or True else 'OFFBOARD'
+                target_mode = "OFFBOARD" if "OFFBOARD" in self.drone.master.mode_mapping() else "GUIDED"
                 self.drone.set_mode(target_mode)
                 self.drone.arm()
                 self.state = MissionState.ARMING

infer_camera_modular.py

@@ -250,6 +250,7 @@ class UAVControlLoop:
     def start_uav(self):
         """ 连接并解锁无人机 """
         self.uav.connect()
+        self.uav.print_status()
         if not self.uav.is_armed and self.uav.current_mode not in ['GUIDED', 'OFFBOARD']:
             self.uav.arm()
 
@@ -324,14 +325,15 @@ def main():
     # 启动无人机连接
     controller.start_uav()
 
+
     print("🚀 NPU 精准推理 [JSON配置动态加载版] 主循环启动...")
 
     try:
         while True:
             ret, frame = streamer.read_frame()
             if not ret:
-                print("❌ 未能读取到摄像头数据，退出中...")
+                time.sleep(0.005)
-                break
+                continue
 
             orig_shape = frame.shape[:2]