小小的修改

infer_camera_direct.py

@@ -107,14 +107,9 @@ def draw_boxes(img, detections):
 def main():
     detector = YOLO26UAVInfer(MODEL_PATH)
     cap = cv2.VideoCapture(INPUT_VIDEO)
-
     from control import UAVController
 
-    # 初始化飞控通信类 (后续需根据实际串口修改, 这里临时选用 /dev/ttyUSB0代替)
-    uav_controller = UAVController(port='/dev/ttyUSB0', baud=115200)
-
-    # 控制总开关: 只有当人在地面发送允许指令才会开启 AI 追踪
-    AI_CONTROL_ENABLE = False
+    uav = UAVController()
 
     if not cap.isOpened():
         print("❌ 无法打开视频源")
@@ -163,17 +158,22 @@ def main():
 
             # 画中心对准线
             cv2.line(frame, (int(img_center_x), int(img_center_y)), (int(target_x), int(target_y)), (255, 0, 0), 2)
-            cv2.putText(frame, f"MAVLink Out -> Err_X: {err_x:+.3f} Err_Y: {err_y:+.3f}", (20, 70),
-                        cv2.FONT_HERSHEY_SIMPLEX, 0.6, (255, 255, 0), 2)
+            cv2.putText(frame, f"MAVLink Out -> Err_X: {err_x:+.3f} Err_Y: {err_y:+.3f}", (20, 70),cv2.FONT_HERSHEY_SIMPLEX, 0.6, (255, 255, 0), 2)
+            # ================ MAVLink 动作调用 =================
+            uav.update_control(has_target=True, err_x=err_x, err_y=err_y)
+            # =================================================
         else:
             cv2.putText(frame, "MAVLink Out -> Target LOST (HOVER)", (20, 70), cv2.FONT_HERSHEY_SIMPLEX, 0.6,
                         (0, 0, 255), 2)
+            # ================ MAVLink 丢失保护 =================
+            uav.update_control(has_target=False)
+            # =================================================
 
         # 5. 在原始分辨率大图上，渲染精准目标框
         frame = draw_boxes(frame, detections)
         cv2.putText(frame, f"NPU Pure FPS: {fps_pure:.1f}", (20, 30), cv2.FONT_HERSHEY_SIMPLEX, 0.7, (0, 255, 255), 2)
 
-        # 🚀【核心优化点】只有在进入发送队列的前一秒，才将画好完美框的图 resize 为轻量化分辨率
+        # 只有在进入发送队列的前一秒，才将画好完美框的图 resize 为轻量化分辨率
         send_frame = cv2.resize(frame, (640, 480))
 
         # 6. 非阻塞式尝试推入图传队列