From 46e35f169d5c821b364ac20b5d0bf6d8ccd3ee65 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E4=B8=80=E5=96=B5?= <yimiao9036@outlook.com>
Date: Wed, 17 Jun 2026 10:47:33 +0800
Subject: [PATCH] =?UTF-8?q?2026.6.17=E5=B0=8F=E6=9B=B4=E6=96=B0=E4=BF=AE?=
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---
 drone_controller/router_proxy.py |  1 +
 run_mission.py                   | 16 +++++++++-------
 2 files changed, 10 insertions(+), 7 deletions(-)

diff --git a/drone_controller/router_proxy.py b/drone_controller/router_proxy.py
index 3b81c34..2902370 100644
--- a/drone_controller/router_proxy.py
+++ b/drone_controller/router_proxy.py
@@ -169,6 +169,7 @@ class RouterProxy:
         msg = {
             "type": "SETPOINT",
             "id": msg_id,
+            "seq":self._seq,
             "timestamp_us": int(time.time() * 1_000_000),
             "setpoint": {"control_mode": control_mode, **kwargs}
         }
diff --git a/run_mission.py b/run_mission.py
index 42ba1fe..5f0e51e 100644
--- a/run_mission.py
+++ b/run_mission.py
@@ -71,7 +71,7 @@ class MissionOrchestrator:
       4. 提供标准视频源接口（可替换）
     """
 
-    def __init__(self, config_path="./config.json"):
+    def __init__(self,waypoints,config_path="./config.json"):
         self.logger = logging.getLogger("Orchestrator")
         self.logger.info("正在加载配置: %s", config_path)
 
@@ -84,11 +84,7 @@ class MissionOrchestrator:
         self.detector = YOLO26UAVInfer(cfg["model"])
 
         # ---- 航线定义（NED 坐标系，Z 向上为负） ----
-        self.waypoints = [
-            {'x': 1.0, 'y': 0.0, 'z': -1.5, 'yaw': 0},
-            {'x': 1.0, 'y': 1.0, 'z': -1.5, 'yaw': 90},
-            {'x': 0.0, 'y': 0.0, 'z': -1.2, 'yaw': 0},
-        ]
+        self.waypoints = waypoints
 
         # ================================================================
         #  🚁 MissionManager（状态机 + 航点巡航）
@@ -417,7 +413,13 @@ def main():
     # 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"
 
-    orchestrator = MissionOrchestrator(config_path=config_file)
+    waypoints = [
+            {'x': 1.0, 'y': 0.0, 'z': -1.5, 'yaw': 0},
+            {'x': 1.0, 'y': 1.0, 'z': -1.5, 'yaw': 90},
+            {'x': 0.0, 'y': 0.0, 'z': -1.2, 'yaw': 0},
+        ]
+
+    orchestrator = MissionOrchestrator(config_path=config_file,waypoints=waypoints)
     orchestrator.start()
     orchestrator.run()