From 23bf083b132e26309b9ba0afdc391cd1f42ba904 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E4=B8=80=E5=96=B5?= Date: Fri, 26 Jun 2026 14:56:33 +0800 Subject: [PATCH] =?UTF-8?q?2026.6.25=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 | 10 ++++++++-- 1 file changed, 8 insertions(+), 2 deletions(-) diff --git a/drone_controller/mission_manager.py b/drone_controller/mission_manager.py index 81e98d1..ae54e53 100644 --- a/drone_controller/mission_manager.py +++ b/drone_controller/mission_manager.py @@ -388,8 +388,14 @@ class MissionManager: logger.info("\n[解锁成功] 发送起飞指令 (alt=%.1fm)", takeoff_alt) ok, ack = self.proxy.send_waypoint( - action="TAKEOFF", alt=takeoff_alt, - alt_frame="RELATIVE", speed=2.0, + lat=state["home"]["lat"], + lon=state["home"]["lon"], + alt=takeoff_alt, + alt_frame="RELATIVE", + speed=3.0, action="TAKEOFF", + hover_time=5.0, yaw=state["drone"]["yaw"], + acceptance_radius=0.5, + is_last=True ) if ok: self.state = MissionState.TAKEOFF