From 7d6b29939ccf349607056fd51487e239e5dc2974 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E4=B8=80=E5=96=B5?= <yimiao9036@outlook.com>
Date: Fri, 7 Aug 2026 11:56:47 +0800
Subject: [PATCH] =?UTF-8?q?2026.8.7=E8=A1=A5=E5=85=A8=E6=97=A5=E5=BF=97?=
 =?UTF-8?q?=E8=BE=93=E5=87=BA?=
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---
 utils/flight_logger.py | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/utils/flight_logger.py b/utils/flight_logger.py
index c434737..aa53c64 100644
--- a/utils/flight_logger.py
+++ b/utils/flight_logger.py
@@ -78,7 +78,9 @@ class FlightLogger:
                 'state',
                 'wp_index',
                 'detect_count',
-                'tracking_active'
+                'tracking_active',
+                'yaw',          # 姿态偏航角 (rad)
+                'heading'       # GPS 航向角 (deg)
             ])
 
         self._running = True
@@ -188,6 +190,8 @@ class FlightLogger:
                 wp_index,                          # wp_index
                 detect_count,                      # detect_count
                 tracking_active,                   # tracking_active
+                drone.get("yaw", 0.0),             # yaw: 姿态偏航角 (rad)
+                drone.get("heading", 0.0),         # heading: GPS 航向角 (deg)
             )
 
             # 非阻塞入队，满则丢弃