2026.8.7补全日志输出

2026-08-07 11:56:47 +08:00
parent 27e89484fa
commit 7d6b29939c
1 changed files with 5 additions and 1 deletions
@@ -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