2026.7.29日志输出修改

drone_controller/mission_manager.py

@@ -242,11 +242,7 @@ class MissionManager:
         if self.state not in (MissionState.INIT, MissionState.FINISHED):
             if state is not None:
                 if not self.proxy.is_state_fresh(state):
-                    age_us, _ = self.proxy.get_state_freshness(state)
-                    age_s = (age_us or 0) / 1_000_000
-                    self._throttle_log("stale_state", 5.0,
-                                       "⚠️ STATE 严重过期 (age=%.2fs)，"
-                                       "本轮保守跳过", age_s, level=logging.WARNING)
+                    # 过期警告已由 is_state_fresh 内部输出，此处不重复打印
                     return
             else:
                 logger.warning("⚠️ 尚未收到 STATE，跳过本轮处理")
@@ -267,7 +263,11 @@ class MissionManager:
                 mode = state["drone"].get("mode", "")
                 # 飞控切到 AUTO.LAND 或 AUTO.RTL → 自动让渡控制权
                 if mode in ("AUTO.LAND", "AUTO.RTL"):
-                    logger.warning(f"⚠️ 飞控切换到 {mode}，Python 端主动让渡控制权")
+                    # 去重：同一 mode 只在首次出现时打印，避免每帧刷屏
+                    self._throttle_log_on_change(
+                        "yield_mode", mode,
+                        "⚠️ 飞控切换到 %s，Python 端主动让渡控制权", mode,
+                        level=logging.WARNING)
                     # 根据模式决定切换到的状态
                     if mode == "AUTO.LAND":
                         self.state = MissionState.LANDING

drone_controller/router_proxy.py

@@ -113,6 +113,9 @@ class RouterProxy:
         self._last_stale_warn_time = 0.0   # 上次 "STATE 过期" 日志时间
         self._last_severe_warn_time = 0.0  # 上次 "STATE 严重过期" 日志时间
 
+        # ---- 日志节流：PX4_ACK 按 (cmd, result) 去重 ----
+        self._last_ack_log_time = {}       # {(cmd, result): 上次打印时间}
+
     # ================================================================
     #  内部工具
     # ================================================================
@@ -354,7 +357,8 @@ class RouterProxy:
             # 日志节流：间隔 ≥ THROTTLE_INTERVAL 秒才打印一次
             now = time.time()
             if age_us >= self.STALE_THRESHOLD_WARN_US:
-                if now - self._last_severe_warn_time >= 5.0:
+                # 严重过期（长时断流）30 秒提示一次即可，避免持续刷屏
+                if now - self._last_severe_warn_time >= 30.0:
                     self._last_severe_warn_time = now
                     logger.warning("STATE 严重过期: age=%.2fs（阈值=%.0fms）",
                                    age_us / 1e6, stale_threshold_us / 1000)
@@ -469,6 +473,12 @@ class RouterProxy:
                             logger.error("ALERT 回调异常: %s", e)
 
                 elif msg_type == "PX4_ACK":
+                    # 节流：相同 (cmd, result) 30 秒内只打印一次，新组合立即可见
+                    ack_key = (data.get("ref_cmd"), data.get("result"))
+                    now = time.time()
+                    last = self._last_ack_log_time.get(ack_key, 0)
+                    if now - last >= 30.0:
+                        self._last_ack_log_time[ack_key] = now
                         logger.info("PX4_ACK: cmd=%s result=%s",
                                     data.get("ref_cmd"), data.get("result"))