2026.6.3小更新
This commit is contained in:
+113
-112
@@ -4,183 +4,184 @@ from enum import Enum
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class MissionState(Enum):
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INIT = 0 # 初始化/流式发送指令准备中
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ARMING = 1 # 模式切换与解锁中
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TAKEOFF = 2 # 自动起飞中（虚拟航点导航起飞）
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INIT = 0 # 初始化/等待连接
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ARMING = 1 # 解锁中
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TAKEOFF = 2 # 自动起飞中
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NAVIGATING = 3 # 航点巡航导航
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HOLD_TASK = 4 # 到达航点后的原地任务悬停检测
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RETURNING = 5 # 任务完成，准备切换降落
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LANDING = 6 # 自动降落中
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FINISHED = 7 # 任务结束/已上锁退出
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HOLD_TASK = 4 # 到达航点后的原地任务悬停
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RETURNING = 5 # 返航或直接准备降落
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LANDING = 6 # 自动降落中
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FINISHED = 7 # 任务结束/已上锁
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HOLD_FINAL = 8 # 结束巡点后原地悬停（当 return_to_home 为 False 时使用）
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class FailsafeTriggered(Exception):
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"""自定义安全异常：当安全员人工介入切出自控模式时抛出，用于暴力熔断主循环"""
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pass
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class MissionManager:
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def __init__(self, drone, waypoints, target_altitude=1.5, arrival_radius=0.3, hold_duration=5.0, return_home=True):
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def __init__(self, drone, waypoints, target_altitude=1.5, arrival_radius=0.3, hold_duration=5.0,
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return_to_home=True):
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"""
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专为 PX4 固件优化的自动巡点状态机管理器
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:param drone: 实例化的 DroneController 底层驱动对象
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:param waypoints: 航点列表，格式为 [{'x': 1.0, 'y': 2.0, 'z': -1.5, 'yaw': 0}, ...]
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注意：NED 坐标系中，Z轴向下为负，所以起飞或目标高度输入正数，内部会自动转为NED负值
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:param waypoints: 航点列表，格式为 [{'x': 1.0, 'y': 2.0, 'z': -1.5, 'yaw': 0}, ... ]
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注意：NED 坐标系中，Z轴向上为负，所以起飞或目标高度应为负值
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:param target_altitude: 初始起飞高度（米，正数，内部会自动转为NED负值）
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:param arrival_radius: 判定航点到达的三维欧氏距离阈值（米）
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:param hold_duration: 在每个航点到达后，原地执行悬停/任务的停留时间（秒）
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:param hold_duration: 在每个航点到达后，执行任务（或悬停）的停留时间（秒）
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:param return_to_home: 巡点结束后是否返回起始点降落。如果为 False，则在最后一个航点原地悬停。
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"""
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self.drone = drone
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self.waypoints = waypoints
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self.target_altitude = -abs(target_altitude) # 强制转为 NED 坐标系的负高度
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self.target_altitude = -abs(target_altitude) # 强制转为 NED 负值
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self.arrival_radius = arrival_radius
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self.hold_duration = hold_duration
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self.return_home = return_home
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self.return_to_home = return_to_home
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self.state = MissionState.INIT
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self.current_wp_index = 0
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self.hold_start_time = None
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self.hold_start_time = 0.0
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# 链路活性流式计数器：确保以固定频率下发心跳期望（防PX4失控刹车）
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self.last_send_time = 0.0
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self.send_interval = 0.2 # 0.2秒对应 5Hz 下发频率
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# 记录起始点坐标，用于返航
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self.home_x = 0.0
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self.home_y = 0.0
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self.home_z = self.target_altitude
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def calculate_distance(self, target_x, target_y, target_z):
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"""计算无人机当前局部局部位置（来自飞控 LOCAL_POSITION_NED 遥测）与目标的欧氏距离"""
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def get_distance(self, target_wp):
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"""计算当前无人机局部 NED 坐标到目标航点的三维欧氏距离"""
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curr_x, curr_y, curr_z = self.drone.local_position
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dx = target_x - curr_x
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dy = target_y - curr_y
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dz = target_z - curr_z
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dx = target_wp['x'] - curr_x
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dy = target_wp['y'] - curr_y
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dz = target_wp['z'] - curr_z
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return math.sqrt(dx ** 2 + dy ** 2 + dz ** 2)
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def _stream_target_position(self, x, y, z, yaw):
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"""维持 PX4 OFFBOARD 模式所需的流式位置期望下发（限制 5Hz 频率）"""
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now = time.time()
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if now - self.last_send_time >= self.send_interval:
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# 假设你的底层 base_control.py 中有 send_target_position 接口
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self.drone.send_target_position(x, y, z, yaw)
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self.last_send_time = now
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def update(self):
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"""
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核心状态机轮询函数。
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高层主循环（如主循环 10Hz）必须不间断调用此函数驱动飞行任务。
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一旦检测到人肉介入，直接抛出 FailsafeTriggered 异常终止运行。
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状态机核心主循环，需由上位机主程序以 5Hz~10Hz 的高频流式调用。
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包含链路维持、安全熔断以及新增的原地悬停/返航分支。
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"""
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# ==================== 1. 安全人肉熔断机制 ====================
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if self.state not in [MissionState.INIT, MissionState.ARMING, MissionState.FINISHED]:
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if self.drone.current_mode != 'OFFBOARD':
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print(f"\n🚨 [熔断保护] 检测到飞控退出自控模式！当前模式为: {self.drone.current_mode}")
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print("🚨 任务管理器瞬间拉断，上位机停止发送所有控制流，完全交由安全员接管！")
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raise FailsafeTriggered("安全员强行越权接管，自控流程熔断")
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# 1. 专属安全熔断机制：一旦检测到场外安全员切回手动模式，立即熔断
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if self.drone.current_mode not in ['GUIDED', 'OFFBOARD'] and self.state != MissionState.INIT:
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print(f"\n⚠️ [安全熔断] 检测到飞控退出自动控制模式(当前模式: {self.drone.current_mode})！上位机状态机退出。")
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self.state = MissionState.FINISHED
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return False
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# ==================== 2. 状态机业务分支 ====================
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# --- STATE: INIT ---
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# 2. 状态机逻辑分支
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if self.state == MissionState.INIT:
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if self.drone.is_connected:
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# PX4 要求：在切入 OFFBOARD 模式之前，上位机必须已经开始流式下发位置/速度期望包，
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# 否则飞控会拒绝切换模式。此处我们在原位流式灌入当前局部坐标作为活性维持。
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cx, cy, cz = self.drone.local_position
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self._stream_target_position(cx, cy, cz, self.drone.yaw)
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print("\n[状态] 飞控通信正常，正在向 PX4 流式下发原位期望以激活控制链路...")
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print("[动作] 正在向飞控请求切换至 OFFBOARD 模式并解锁...")
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if self.drone.set_mode('OFFBOARD'):
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# 假设底层接口 drone.arm() 会发送解锁包并等待确认
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if self.drone.arm():
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self.state = MissionState.ARMING
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print("\n[通信成功] 无人机已连接，准备记录起始点并解锁...")
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# 记录解锁时的局部位置作为 Home 点
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hx, hy, _ = self.drone.local_position
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self.home_x = hx
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self.home_y = hy
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self.state = MissionState.ARMING
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else:
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print("\r[状态] 等待飞控 MAVLink 串口通信建立...", end="", flush=True)
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print("\r[等待中] 等待飞控心跳连接...", end="", flush=True)
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# --- STATE: ARMING ---
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elif self.state == MissionState.ARMING:
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# 持续流式下发当前点，防模式闪退
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cx, cy, cz = self.drone.local_position
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self._stream_target_position(cx, cy, cz, self.drone.yaw)
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if self.drone.is_armed and self.drone.current_mode == 'OFFBOARD':
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print("\n[成功] 飞控已成功解锁，且处于 OFFBOARD 模式。开始执行平滑虚拟起飞流程...")
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print("\r[指令下发] 正在尝试解锁电机...", end="", flush=True)
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if self.drone.is_armed:
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print("\n[成功] 电机已解锁！准备切入控制模式并起飞。")
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# 引导无人机切入 GUIDED 或 OFFBOARD
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target_mode = 'OFFBOARD' if 'PX4' in getattr(self.drone, 'firmware_type', 'PX4') else 'GUIDED'
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self.drone.set_mode(target_mode)
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self.state = MissionState.TAKEOFF
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else:
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self.drone.arm()
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time.sleep(0.5)
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# --- STATE: TAKEOFF (虚拟航点平滑起飞) ---
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elif self.state == MissionState.TAKEOFF:
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# PX4 泛用性最强的起飞：发送原地 (0, 0) 坐标，配合目标负高度值
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self._stream_target_position(0.0, 0.0, self.target_altitude, 0.0)
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# 虚拟/流式起飞：高频下发起飞期望高度，维持链路活性
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self.drone.send_target_position(self.home_x, self.home_y, self.target_altitude, 0)
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# 计算距离起飞航点的距离
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dist = self.calculate_distance(0.0, 0.0, self.target_altitude)
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print(f"\r[起飞中] 目标高度: {-self.target_altitude:.2f}m | 当前距离起飞点: {dist:.2f}m", end="",
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flush=True)
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# 判定是否到达起飞高度
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_, _, curr_z = self.drone.local_position
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if abs(curr_z - self.target_altitude) < self.arrival_radius:
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print(f"\n[完成] 已到达安全起飞高度: {abs(curr_z):.2f}m。开始巡航任务...")
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if len(self.waypoints) > 0:
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self.current_wp_index = 0
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self.state = MissionState.NAVIGATING
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else:
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print("⚠️ 警告: 航点列表为空！")
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if self.return_to_home:
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self.state = MissionState.RETURNING
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else:
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self.state = MissionState.HOLD_FINAL
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else:
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print(f"\r[起飞中] 当前高度: {abs(curr_z):.2f}m / 目标: {abs(self.target_altitude):.2f}m", end="",
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flush=True)
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if dist <= self.arrival_radius:
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print(f"\n[完成] 虚拟起飞安全到达目标高度！开始按顺序巡航。总计航点数: {len(self.waypoints)}")
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self.current_wp_index = 0
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self.state = MissionState.NAVIGATING
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# --- STATE: NAVIGATING (航点巡航导航) ---
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elif self.state == MissionState.NAVIGATING:
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wp = self.waypoints[self.current_wp_index]
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# 流式下发当前期望的绝对 NED 坐标与偏航角（激活PX4控制环并防止失控刹车）
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self._stream_target_position(wp['x'], wp['y'], wp['z'], wp['yaw'])
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# “零期望命令”防失控刹车：流式高频持续推流当前目标点
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self.drone.send_target_position(wp['x'], wp['y'], wp['z'], wp['yaw'])
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dist = self.calculate_distance(wp['x'], wp['y'], wp['z'])
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print(
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f"\r[巡航中] 正在前往航点 [{self.current_wp_index + 1}/{len(self.waypoints)}] | 剩余距离: {dist:.2f}m",
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end="", flush=True)
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dist = self.get_distance(wp)
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print(f"\r[任务中] 正在飞往航点 [{self.current_wp_index + 1}] | 剩余距离: {dist:.2f}m", end="", flush=True)
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if dist <= self.arrival_radius:
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print(f"\n[到达] 成功进入航点 [{self.current_wp_index + 1}] 容差圈！开始执行就地悬停任务...")
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if dist < self.arrival_radius:
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print(f"\n[到达] 已精准触达航点 [{self.current_wp_index + 1}]，开启原地任务阶段。")
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self.hold_start_time = time.time()
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self.state = MissionState.HOLD_TASK
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# --- STATE: HOLD_TASK (到达航点后的原地任务悬停/拍照) ---
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elif self.state == MissionState.HOLD_TASK:
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wp = self.waypoints[self.current_wp_index]
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# 即使在原地停留/拍照，上位机也绝对不能“闭嘴”，必须以 5Hz 持续锁定该点坐标
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self._stream_target_position(wp['x'], wp['y'], wp['z'], wp['yaw'])
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# 悬停期间同样高频重发当前坐标，让飞控稳定在原地
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self.drone.send_target_position(wp['x'], wp['y'], wp['z'], wp['yaw'])
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elapsed = time.time() - self.hold_start_time
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print(
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f"\r[任务中] 航点 [{self.current_wp_index + 1}] 原地执行中... 已耗时: {elapsed:.1f}s / {self.hold_duration}s",
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f"\r[任务中] 航点 [{self.current_wp_index + 1}] 原地悬停检测中... 已耗时: {elapsed:.1f}s / {self.hold_duration}s",
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end="", flush=True)
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if elapsed >= self.hold_duration:
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print(f"\n[完成] 航点 [{self.current_wp_index + 1}] 停留时间结束。")
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print(f"\n[完成] 航点 [{self.current_wp_index + 1}] 任务执行完毕。")
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# 切换下一个点
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self.current_wp_index += 1
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if self.current_wp_index < len(self.waypoints):
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self.state = MissionState.NAVIGATING
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else:
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print("\n[巡视完毕] 所有计划航点均已完成！准备进入返航/降落切换阶段。")
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if self.return_home:
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# 【核心修改点】所有航点巡视完毕，根据参数决定去向
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if self.return_to_home:
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print("\n[完成] 所有航点均已巡视完毕！准备返航起始点。")
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self.state = MissionState.RETURNING
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self.state = MissionState.RETURNING
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else:
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print("\n[完成] 所有航点均已巡视完毕！[设置] 不执行返航，就地保持悬停。")
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self.state = MissionState.HOLD_FINAL
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# --- STATE: RETURNING ---
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elif self.state == MissionState.RETURNING:
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# 持续发送当前点维持链路
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cx, cy, cz = self.drone.local_position
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self._stream_target_position(cx, cy, cz, self.drone.yaw)
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# 飞回记录的 Home 起始点高度位置
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self.drone.send_target_position(self.home_x, self.home_y, self.home_z, 0)
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print("\n[降落中] 正在向 PX4 下发自动降落指令 (AUTO.LAND)...")
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# 提示：PX4 固件的标准降落模式名称通常为 'AUTO.LAND' 或 'LAND'，依底层驱动映射而定
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if self.drone.set_mode('AUTO.LAND') or self.drone.set_mode('LAND'):
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self.state = MissionState.LANDING
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else:
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print("⚠️ 切换降落模式失败，正在高频重试...")
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dist_to_home = math.sqrt((self.home_x - self.drone.local_position[0]) ** 2 +
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(self.home_y - self.drone.local_position[1]) ** 2)
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print(f"\r[返航中] 正在飞回起始点位置 | 剩余水平距离: {dist_to_home:.2f}m", end="", flush=True)
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if dist_to_home < self.arrival_radius:
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print("\n[到达] 已安全返回起始点上方。正在下发自动降落指令 (LAND)...")
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if self.drone.set_mode('LAND'):
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self.state = MissionState.LANDING
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else:
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print("⚠️ 降落模式切换失败，正在重新下发...")
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elif self.state == MissionState.HOLD_FINAL:
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# 【新增状态】不返航时的原地最终悬停状态
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# 锁定在最后一个航点，持续高频推流，维持控制链路，防止 Failsafe 刹车
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final_wp = self.waypoints[-1] if self.waypoints else {'x': self.home_x, 'y': self.home_y,
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'z': self.target_altitude, 'yaw': 0}
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self.drone.send_target_position(final_wp['x'], final_wp['y'], final_wp['z'], final_wp['yaw'])
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print(
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f"\r[挂起] 无人机保持在最终航点悬停。坐标:({final_wp['x']}, {final_wp['y']}, {final_wp['z']}) | 等待人工接管中...",
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end="", flush=True)
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# --- STATE: LANDING ---
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elif self.state == MissionState.LANDING:
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# 进入飞控原生 LAND 模式后，控制权已交还给飞控底层，此时上位机可以安全停止控制包输出了。
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print("\r[降落中] 正在等待飞控触地并自动上锁...", end="", flush=True)
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# 判断是否已经安全着陆并自动上锁
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if not self.drone.is_armed:
|
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print("\n[完成] 无人机已安全着陆并自动锁桨！任务圆满结束。")
|
||||
print("\n[完成] 无人机已安全着陆并自动上锁，任务圆满结束！")
|
||||
self.state = MissionState.FINISHED
|
||||
else:
|
||||
print("\r[降落中] 正在下降着陆中...", end="", flush=True)
|
||||
|
||||
# --- STATE: FINISHED ---
|
||||
elif self.state == MissionState.FINISHED:
|
||||
return True
|
||||
return False
|
||||
|
||||
return False
|
||||
return True
|
||||
+32
-43
@@ -1,58 +1,47 @@
|
||||
import time
|
||||
from drone_controller.base_control import DroneController
|
||||
from drone_controller.mission_manager import MissionManager
|
||||
from drone_controller.mission_manager import MissionManager, FailsafeTriggered
|
||||
|
||||
# 1. 定义室内台架或室内试验场的相对局部航点 (X=北, Y=东, Z=地, yaw=偏航角)
|
||||
# 注意：NED 坐标系下，Z轴向上为负数！
|
||||
flight_waypoints = [
|
||||
{'x': 1.0, 'y': 0.0, 'z': -1.5, 'yaw': 0}, # 航点 1：向前 1 米，维持高度 1.5 米
|
||||
{'x': 1.0, 'y': 1.0, 'z': -1.5, 'yaw': 90}, # 航点 2：向右平移 1 米，机头转向正东
|
||||
{'x': 0.0, 'y': 0.0, 'z': -1.2, 'yaw': 0}, # 航点 3：回到原点上方，高度降到 1.2 米
|
||||
]
|
||||
|
||||
|
||||
def main():
|
||||
# 1. 实例化飞控底层驱动 SDK
|
||||
# 注意：根据现场情况修改你的串口和波特率
|
||||
drone = DroneController(connection_string='/dev/ttyUSB0', baud=115200)
|
||||
# 2. 初始化底层 SDK 驱动
|
||||
uav = DroneController(connection_string='/dev/ttyUSB0', baud=115200)
|
||||
if not uav.connect():
|
||||
print("物理串口打开失败，请检查数传连接或端口权限。")
|
||||
return
|
||||
|
||||
# 3. 实例化任务管理器 (设置到达半径为0.3米，每个点悬停3秒)
|
||||
manager = MissionManager(drone=uav, waypoints=flight_waypoints, target_altitude=1.5, arrival_radius=0.3,
|
||||
hold_duration=3.0)
|
||||
|
||||
print("=================== 巡航控制系统启动 ===================")
|
||||
try:
|
||||
# 启动底层数据链连接与异步状态遥测线程
|
||||
drone.connect()
|
||||
|
||||
# 2. 规划室内巡点航点列表 (NED 相对局部坐标系)
|
||||
# 规则说明：X-北为正, Y-东为正, Z-向下为正（所以想要在 1.5 米高度飞，Z 必须为 -1.5）
|
||||
# yaw：偏航角角度(0-360度)，0代表正北
|
||||
my_waypoints = [
|
||||
{'x': 1.0, 'y': 0.0, 'z': -1.5, 'yaw': 0}, # 点1：向正前方推进1米
|
||||
{'x': 1.0, 'y': 1.0, 'z': -1.5, 'yaw': 90}, # 点2：保持前推，向右平移1米，机头偏向正东
|
||||
{'x': 0.0, 'y': 1.0, 'z': -1.5, 'yaw': 180}, # 点3：倒飞回起点水平线，机头朝向正南
|
||||
{'x': 0.0, 'y': 0.0, 'z': -1.5, 'yaw': 270} # 点4：返回起飞原点，机头朝向正西
|
||||
]
|
||||
|
||||
# 3. 初始化任务管理器模块
|
||||
mission = MissionManager(
|
||||
drone=drone,
|
||||
waypoints=my_waypoints,
|
||||
target_altitude=1.5, # 自动起飞高度 1.5 米
|
||||
arrival_radius=0.25, # 判定到点的欧氏距离误差阈值锁定在 25 厘米以内
|
||||
hold_duration=4.0 # 每个点到达后悬停停留 4 秒
|
||||
)
|
||||
|
||||
print("\n================ 自动巡点系统就绪 ================")
|
||||
print("提示: 现场安全员请时刻保持遥控器手柄在握，一旦发生异常，切出控制模式即可随时越权人工接管。")
|
||||
print("================================================\n")
|
||||
|
||||
# 4. 高频业务轮询主循环
|
||||
# 高频业务控制主循环 (10Hz)
|
||||
while True:
|
||||
# 驱动任务状态机
|
||||
is_mission_finished = mission.update()
|
||||
|
||||
if is_mission_finished:
|
||||
print("\n[通知] 主程序检测到巡航任务模块已正常运行结束，退出程序。")
|
||||
# 轮询状态机
|
||||
is_finished = manager.update()
|
||||
if is_finished:
|
||||
print("=================== 整个巡航任务已安全退出 ===================")
|
||||
break
|
||||
|
||||
# 20Hz 的控制频率（50ms一拍），既能保证位置控制实时下发，又不会拖垮处理器
|
||||
time.sleep(0.05)
|
||||
time.sleep(0.1) # 严格的 10Hz 轮询，配合管理器内部 5Hz 下发，完美防失控
|
||||
|
||||
except FailsafeTriggered as e:
|
||||
# 4. 最强安全保护：一旦遥控器切出模式，代码在这里捕获，直接结束整个 Python 进程
|
||||
print(f"\n🚨 [主循环紧急熔断] 系统安全退出: {e}。香橙派已处于安全挂起状态，不占用串口输出。")
|
||||
except KeyboardInterrupt:
|
||||
print("\n🛑 用户手动中止程序 (Ctrl+C)！正在触发紧急安全退出。")
|
||||
print("\n用户手动通过 Ctrl+C 终止了上位机脚本。")
|
||||
finally:
|
||||
# 5. 清理与释放资源
|
||||
print("[清理] 正在关闭后台遥测数据链线程...")
|
||||
drone.disconnect()
|
||||
print("[清理] 程序已安全解脱。")
|
||||
uav.running = False # 销毁并关闭底层遥测监听守护线程
|
||||
|
||||
|
||||
if __name__ == '__main__':
|
||||
main()
|
||||
Reference in New Issue
Block a user