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2026.6.24实现 QGC_WAYPOINTS → 系统内部航点格式 的转换链路

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songhaoyu
2026-06-24 14:37:59 +08:00
parent 25882a5f8b
commit 0eecf7ef20
1 changed files with 7 additions and 6 deletions
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run_mission.py
+7 -6
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@@ -172,6 +172,7 @@ class MissionOrchestrator:
hold_time = wp.get("param1", 8.0) # 悬停时间（如有） hold_time = wp.get("param1", 8.0) # 悬停时间（如有）
x, y, z = latlon_to_ned(lat, lon, alt, ref_lat, ref_lon, ref_alt) x, y, z = latlon_to_ned(lat, lon, alt, ref_lat, ref_lon, ref_alt)
print(f"航点信息；{x}{y}{z}")
# 根据 MAV_CMD 类型构建内部航点 # 根据 MAV_CMD 类型构建内部航点
if cmd == 22: # TAKEOFF if cmd == 22: # TAKEOFF
@@ -507,13 +508,13 @@ def main():
# 允许命令行指定配置文件路径 # 允许命令行指定配置文件路径
config_file = sys.argv[1] if len(sys.argv) > 1 else "./config.json" config_file = sys.argv[1] if len(sys.argv) > 1 else "./config.json"
waypoints = [ # waypoints = [
{'x': 1.0, 'y': 0.0, 'z': -1.5, 'yaw': 0}, # {'x': 1.0, 'y': 0.0, 'z': -1.5, 'yaw': 0},
{'x': 1.0, 'y': 1.0, 'z': -1.5, 'yaw': 90}, # {'x': 1.0, 'y': 1.0, 'z': -1.5, 'yaw': 90},
{'x': 0.0, 'y': 0.0, 'z': -1.2, 'yaw': 0}, # {'x': 0.0, 'y': 0.0, 'z': -1.2, 'yaw': 0},
] # ]
orchestrator = MissionOrchestrator(config_path=config_file,waypoints=waypoints) orchestrator = MissionOrchestrator(config_path=config_file,waypoints=None)
orchestrator.start() orchestrator.start()
orchestrator.run() orchestrator.run()