From 0bbffa85abd4e93e9d93389a41864e349f655f5b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E4=B8=80=E5=96=B5?= Date: Wed, 1 Jul 2026 08:45:49 +0800 Subject: [PATCH] =?UTF-8?q?2026.7.1=E5=B0=8F=E6=9B=B4=E6=96=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- drone_controller/mission_manager.py | 9 ++------- 1 file changed, 2 insertions(+), 7 deletions(-) diff --git a/drone_controller/mission_manager.py b/drone_controller/mission_manager.py index fb27123..261dd6d 100644 --- a/drone_controller/mission_manager.py +++ b/drone_controller/mission_manager.py @@ -329,7 +329,6 @@ class MissionManager: B) 未解锁 → 发 ARM 指令 C) 已解锁但非 OFFBOARD → 进入 ARMING 等待后续 TAKEOFF 序列 """ - global need_homeLog try: drone = state["drone"] armed = drone.get("armed", False) @@ -340,9 +339,8 @@ class MissionManager: logger.info("[INIT] mode=%s armed=%s alt_rel=%.1fm", mode, armed, alt_rel) - if not home.get("valid", False) and need_homeLog: + if not home.get("valid", False): logger.warning("[INIT] home.valid=false，等待起飞点有效...") - need_homeLog = False return # A) 已在 OFFBOARD + 已解锁 → 直接巡航 @@ -379,11 +377,9 @@ class MissionManager: """ [ARMING] 等待解锁确认，成功后进入 TAKEOFF """ - global need_homeLog try: armed = state["drone"].get("armed", False) home = state.get("home", {}) - need_homeLog = True if not armed: elapsed = time.time() - self._state_start_time @@ -395,9 +391,8 @@ class MissionManager: logger.info("[ARMING] 等待解锁... (%.1fs)", elapsed) return - if not home.get("valid", False) and need_homeLog: + if not home.get("valid", False): logger.warning("[ARMING] home.valid=false，等待起飞点有效...") - need_homeLog = False return # ---- 解锁成功 → 起飞 ----