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2026.7.29刷屏优化、降落逻辑处理、飞行限速

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songhaoyu
2026-07-29 11:21:47 +08:00
parent 567e173840
commit 94c5d20c85
5 changed files with 203 additions and 61 deletions
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config.json
+6 -1
View File
@@ -38,7 +38,12 @@
"arrival_radius": 0.3,
"hold_duration": 8.0,
"return_to_home": false,
"target_lost_timeout": null
"target_lost_timeout": null,
"max_speed": 1.2,
"landing": {
"pre_hover_duration": 3.0,
"descent_speed": 0.3
}
},
"optical_flow":{
"grid_step":25,
drone_controller/mission_manager.py
+151 -42
View File
@@ -25,6 +25,7 @@ mission_manager.py — 基于 ZeroMQ RouterProxy 的航点巡航状态机
SETPOINT 流同时激活产生冲突。
"""
import math
import time
import logging
from enum import Enum
@@ -47,6 +48,7 @@ class MissionState(Enum):
LANDING = 7 # 自动降落中
FINISHED = 8 # 任务结束 / 已上锁
HOLD_FINAL = 9 # 结束巡点后原地悬停（return_to_home=False）
PRE_LAND_HOVER = 10 # 🛬 降落前悬停（到达降落点后等待片刻再下降）
class FailsafeTriggered(Exception):
@@ -118,16 +120,21 @@ class MissionManager:
def __init__(self, proxy, waypoints, target_altitude=1.5,
arrival_radius=0.3, hold_duration=5.0,
return_to_home=True, target_lost_timeout=None):
return_to_home=True, target_lost_timeout=None,
max_speed=1.2, pre_land_hover_duration=3.0,
landing_descent_speed=0.3):
"""
Args:
proxy: RouterProxy 实例（调用方负责 start/close）
waypoints: 航点列表（经纬度格式 v2）
target_altitude: 默认起飞高度（米，正值向上）
arrival_radius: 航点到达判定半径（米）
hold_duration: 巡点无目标的最大悬停搜索时间（秒）
return_to_home: 航点巡完后是否返航，False 则终点悬停
target_lost_timeout: VISUAL_TRACKING 目标丢失超时（秒）
proxy: RouterProxy 实例（调用方负责 start/close）
waypoints: 航点列表（经纬度格式 v2）
target_altitude: 默认起飞高度（米，正值向上）
arrival_radius: 航点到达判定半径（米）
hold_duration: 巡点无目标的最大悬停搜索时间（秒）
return_to_home: 航点巡完后是否返航，False 则终点悬停
target_lost_timeout: VISUAL_TRACKING 目标丢失超时（秒）
max_speed: 航点巡航最大速度（m/s，默认 1.2）
pre_land_hover_duration: 降落前悬停时长（秒，默认 3.0）
landing_descent_speed: 降落下降速度（m/s，正值向下，默认 0.3）
"""
# ---- 依赖注入 ----
self.proxy = proxy
@@ -153,6 +160,9 @@ class MissionManager:
target_lost_timeout if target_lost_timeout is not None
else self.DEFAULT_TARGET_LOST_TIMEOUT
)
self.max_speed = max(max_speed, 0.1) # 最大巡航速度（m/s），最低 0.1
self.pre_land_hover_duration = max(pre_land_hover_duration, 0.0) # 降落前悬停时长
self.landing_descent_speed = max(0.1, min(landing_descent_speed, 1.0)) # 下降速度 [0.1, 1.0]
# ---- 状态机 ----
self.current_wp_index = 0
@@ -176,10 +186,12 @@ class MissionManager:
self.tracking_max_duration = 10.0
logger.info("MissionManager 初始化: %d 个航点, 目标高度=%.1fm, "
"到达半径=%.1fm, 搜寻时长=%.1fs, 返航=%s",
"到达半径=%.1fm, 搜寻时长=%.1fs, 最大速度=%.1fm/s, "
"降落悬停=%.1fs, 下降速度=%.1fm/s, 返航=%s",
len(self.waypoints), self.target_altitude,
self.arrival_radius, self.hold_duration,
self.return_to_home)
self.max_speed, self.pre_land_hover_duration,
self.landing_descent_speed, self.return_to_home)
# ---- 日志节流控制 ----
self._last_throttle_time = {}
@@ -210,8 +222,9 @@ class MissionManager:
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
logger.warning("⚠️ STATE 严重过期 (age=%.2fs)，"
"本轮保守跳过", age_s)
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)
return
else:
logger.warning("⚠️ 尚未收到 STATE，跳过本轮处理")
@@ -281,6 +294,8 @@ class MissionManager:
self._handle_landing(state)
elif self.state == MissionState.HOLD_FINAL:
self._handle_hold_final(state)
elif self.state == MissionState.PRE_LAND_HOVER:
self._handle_pre_land_hover(state)
except FailsafeTriggered:
raise
except Exception as e:
@@ -374,6 +389,7 @@ class MissionManager:
self.state = MissionState.NAVIGATING
self.current_wp_index = 0
self._set_current_target_from_wp(0)
self.proxy.reset_setpoint_log()
return
# B) 未解锁
@@ -507,6 +523,7 @@ class MissionManager:
self.state = MissionState.NAVIGATING
self.current_wp_index = 0
self._set_current_target_from_wp(0)
self.proxy.reset_setpoint_log()
return
# 等待模式切换
@@ -517,6 +534,7 @@ class MissionManager:
self.state = MissionState.NAVIGATING
self.current_wp_index = 0
self._set_current_target_from_wp(0)
self.proxy.reset_setpoint_log()
return
time.sleep(0.1)
@@ -524,6 +542,7 @@ class MissionManager:
self.state = MissionState.NAVIGATING
self.current_wp_index = 0
self._set_current_target_from_wp(0)
self.proxy.reset_setpoint_log()
except (KeyError, TypeError) as e:
logger.warning("[TAKEOFF] 异常: %s", e)
@@ -532,10 +551,12 @@ class MissionManager:
def _handle_navigating(self, state):
"""
[NAVIGATING] 每帧发送 POSITION SETPOINT 前往当前航点
[NAVIGATING] 每帧发送 VELOCITY SETPOINT 前往当前航点
POSITION SETPOINT 发送 LOCAL_OFFSET_NED 相对偏移；到达判定使用 Haversine 距离。
到达判定后推进索引；所有航点飞完后根据 return_to_home 决定返航或悬停。
速度受 max_speed 限制，含自动减速区。
到达判定使用 Haversine 距离。
- 普通航点到达 → HOLD_TASK
- 降落航点到达 → PRE_LAND_HOVER（先悬停再降落）
"""
if not self.waypoints or self.current_wp_index >= len(self.waypoints):
self._finish_navigation(state)
@@ -544,29 +565,19 @@ class MissionManager:
wp = self.waypoints[self.current_wp_index]
cmd = wp.get("command", "WAYPOINT")
# ---- 起飞航点 ----
# ---- 起飞航点 直接跳过 ----
if cmd == "TAKEOFF":
# 起飞已完成，直接推进到下一个航点
self.current_wp_index += 1
return
# ---- 降落航点 ----
if cmd == "LAND":
logger.info("🛬 执行降落")
self.proxy.send_command("LAND")
self.state = MissionState.LANDING
return
# ---- 普通航点 ----
# ---- 普通航点 / 降落航点 — 统一导航到目标坐标 ----
wp_lat = wp["lat"]
wp_lon = wp["lon"]
wp_alt = wp.get("alt", self.target_altitude)
wp_yaw = wp.get("yaw", 0.0)
# 发送 POSITION SETPOINT（相对当前位置 LOCAL_OFFSET_NED）
self._send_relative_position_setpoint(
state, wp_lat, wp_lon, wp_alt, yaw=wp_yaw,
)
# 发送 VELOCITY SETPOINT，速度受 max_speed 限制
self._send_velocity_to_target(state, wp_lat, wp_lon, wp_alt)
# ---- 共享目标 ----
self.current_target = {"lat": wp_lat, "lon": wp_lon,
@@ -581,15 +592,22 @@ class MissionManager:
wp_lat, wp_lon, wp_alt)
if dist < self.arrival_radius:
logger.info("\n✅ [到达航点 %d/%d] dist=%.2fm",
self.current_wp_index + 1, len(self.waypoints), dist)
self.state = MissionState.HOLD_TASK
self.hold_start_time = time.time()
if cmd == "LAND":
logger.info("\n🛬 [到达降落点] 悬停 %.1fs 后降落...",
self.pre_land_hover_duration)
self.state = MissionState.PRE_LAND_HOVER
self._state_start_time = time.time()
else:
logger.info("\n✅ [到达航点 %d/%d] dist=%.2fm",
self.current_wp_index + 1, len(self.waypoints), dist)
self.state = MissionState.HOLD_TASK
self.hold_start_time = time.time()
else:
self._throttle_log("navigating", 5.0,
"[巡航中] 航点 [%d/%d] 距离=%.2fm",
"[巡航中] 航点 [%d/%d] 距离=%.2fm 速度≤%.1fm/s",
self.current_wp_index + 1,
len(self.waypoints), dist)
len(self.waypoints), dist,
self.max_speed)
def _finish_navigation(self, state):
"""所有航点飞完后的跳转"""
@@ -650,6 +668,7 @@ class MissionManager:
self.hold_duration)
self.current_wp_index += 1
self.state = MissionState.NAVIGATING
self.proxy.reset_setpoint_log()
else:
self._throttle_log("hold_task", 3.0,
"[检索中] 航点 %d 剩余 %.1fs",
@@ -718,6 +737,7 @@ class MissionManager:
self.current_wp_index += 1
self.state = MissionState.NAVIGATING
self._target_lost_start = None
self.proxy.reset_setpoint_log()
logger.info("[状态切换] VISUAL_TRACKING → NAVIGATING，"
"前往航点 %d", self.current_wp_index + 1)
@@ -725,19 +745,18 @@ class MissionManager:
def _handle_returning(self, state):
"""
[RETURNING] 发送 POSITION SETPOINT 到 HOME 点
[RETURNING] 每帧发送 VELOCITY SETPOINT 返回 HOME 点
POSITION SETPOINT 发送到 HOME 的 LOCAL_OFFSET_NED 相对偏移；
到达判定使用 Haversine 球面距离。
速度受 max_speed 限制，到达判定使用 Haversine 球面距离。
"""
home = state.get("home", {})
drone = state.get("drone", {})
home_lat = home.get("lat", 0.0)
home_lon = home.get("lon", 0.0)
# 发送 POSITION SETPOINT（相对当前位置 LOCAL_OFFSET_NED）
self._send_relative_position_setpoint(
state, home_lat, home_lon, self.target_altitude, yaw=0,
# 发送 VELOCITY SETPOINT，速度受 max_speed 限制
self._send_velocity_to_target(
state, home_lat, home_lon, self.target_altitude,
)
self.current_target = {
"lat": home_lat, "lon": home_lon,
@@ -762,8 +781,39 @@ class MissionManager:
else:
logger.warning("[返航] LAND 失败: %s", ack)
# ---- 降落 ----
# ---- 降落前悬停 ----
def _handle_pre_land_hover(self, state):
"""
[PRE_LAND_HOVER] 到达降落点后的悬停等待
在降落点上方悬停 pre_land_hover_duration 秒后，
发送 LAND 指令进入 LANDING 状态（由 PX4 接管后续自动降落）。
"""
elapsed = time.time() - self._state_start_time
# 保持位置悬停（目标点速度控制 → 接近时自动归零）
wp = self.waypoints[self.current_wp_index]
self._send_velocity_to_target(
state,
wp["lat"], wp["lon"],
wp.get("alt", self.target_altitude),
)
if elapsed >= self.pre_land_hover_duration:
logger.info("\n🛬 [悬停完成] 执行降落指令")
ok, ack = self.proxy.send_command("LAND")
if ok:
self.state = MissionState.LANDING
else:
logger.warning("[降落] LAND 指令失败: %s，仍进入降落状态", ack)
self.state = MissionState.LANDING
else:
self._throttle_log("pre_land", 1.0,
"[降落悬停] 剩余 %.1fs",
self.pre_land_hover_duration - elapsed)
# ---- 降落 ----
def _handle_landing(self, state):
"""[LANDING] 监控 disarm 状态判断着陆"""
try:
@@ -832,6 +882,65 @@ class MissionManager:
control_mode="POSITION",
)
def _send_velocity_to_target(self, state, target_lat, target_lon,
target_alt, max_speed=None):
"""
按相对目标的 NED 方向发送 VELOCITY SETPOINT，速度受 max_speed 限制。
当距离目标较近时自动减速（线性减速区 = 2 × max_speed 米），
到达 arrival_radius 范围后由调用方（arrival 判定）负责切换状态。
Args:
state: 最新飞机 STATE
target_lat: 目标纬度（度）
target_lon: 目标经度（度）
target_alt: 目标相对高度（米，正值向上）
max_speed: 最大速度（m/s），默认 self.max_speed
Returns:
(成功: bool, ACK 字典: dict)
"""
if max_speed is None:
max_speed = self.max_speed
drone = state.get("drone", {}) if state else {}
current_lat = drone.get("lat", 0.0)
current_lon = drone.get("lon", 0.0)
current_alt = self._get_current_alt(state)
# 计算 NED 偏移 (x=北, y=东, z=下)
x, y, z = latlon_alt_to_local_offset(
target_lat, target_lon, target_alt,
current_lat, current_lon, current_alt,
)
dist_h = math.sqrt(x * x + y * y)
# ---- 水平速度：方向归一化 × 限速（含减速区） ----
DECEL_FACTOR = 2.0 # 减速区 = max_speed × 2 米
if dist_h < 0.15:
vx, vy = 0.0, 0.0
else:
desired_speed = max_speed
decel_dist = max_speed * DECEL_FACTOR
if dist_h < decel_dist:
# 线性减速：距离越近速度越慢
desired_speed = max_speed * (dist_h / decel_dist)
desired_speed = max(desired_speed, 0.15) # 最低速度
vx = (x / dist_h) * desired_speed
vy = (y / dist_h) * desired_speed
# ---- 垂直速度：简单 P 控制 ----
# z > 0 表示目标在下 → 需要正 vz（NED 向下为正）
vz = z * 2.0 # 增益 2.0
vz = max(min(vz, max_speed), -max_speed)
return self.proxy.send_setpoint(
vx=vx, vy=vy, vz=vz,
yaw_rate=0.0,
control_mode="VELOCITY",
)
def _set_current_target_from_wp(self, index):
"""从航点列表更新 current_target"""
if self.waypoints and index < len(self.waypoints):
drone_controller/router_proxy.py
+39 -16
View File
@@ -107,6 +107,11 @@ class RouterProxy:
self._last_logged_msg_type = None # 记录上次打印的消息类型
self._last_logged_ack_type = None
self._setpoint_log_allowed = True # SETPOINT 日志是否允许输出（每个航点重置一次）
# ---- 日志节流：STATE 过期警告 ----
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
# ================================================================
# 内部工具
@@ -126,6 +131,12 @@ class RouterProxy:
return current_seq
def reset_setpoint_log(self):
"""重置 SETPOINT 日志输出标记（新航点开始时调用，使下一个 SETPOINT 可被打印）"""
self._setpoint_log_allowed = True
self._last_logged_msg_type = None
self._last_logged_ack_type = None
def _build_send_summary(self, msg: dict) -> str:
"""构建发送消息的内容概要，用于日志"""
msg_type = msg.get("type", "?")
@@ -262,26 +273,32 @@ class RouterProxy:
msg_id = msg.get("id", "?")
summary = self._build_send_summary(msg)
# ---- 发送日志：类型变化时才打印 ----
if msg_type != self._last_logged_msg_type:
self._last_logged_msg_type = msg_type
logger.debug("Sending %s id=%s: %s", msg_type, msg_id, summary)
logger.info("🚀 发送 %s (类型变化)", msg_type)
# 否则静默，不打印任何东西
# ---- 发送日志 ----
should_log = False
if msg_type == "SETPOINT":
# SETPOINT：每个航点只打印第一次
if self._setpoint_log_allowed:
self._setpoint_log_allowed = False
should_log = True
else:
# 非 SETPOINT（COMMAND / WAYPOINT / QUERY）：类型变化时打印
if msg_type != self._last_logged_msg_type:
self._last_logged_msg_type = msg_type
should_log = True
if should_log:
logger.info("🚀 发送 %s id=%s: %s", msg_type, msg_id, summary)
try:
self.req.send_string(json.dumps(msg))
ack_str = self.req.recv_string()
ack = json.loads(ack_str)
ok = ack.get("status") == "OK"
ack_type = ack.get("type", "ACK") # 通常是 "ACK"
# ---- ACK 日志：类型变化时才打印 ----
if ack_type != self._last_logged_ack_type:
self._last_logged_ack_type = ack_type
# ---- ACK 日志：与发送日志同步，只在对应发送被打印时输出 ----
if should_log:
logger.info("ACK received for id=%s, status=%s",
ack.get("ref_id"), ack.get("status"))
# 否则 ACK 也静默
ack.get("ref_id"), ack.get("status"))
if not ok:
# 非 OK 状态无论如何都打印（这是异常）
@@ -334,12 +351,18 @@ class RouterProxy:
except (KeyError, TypeError):
return False
if age_us >= stale_threshold_us:
# 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:
logger.warning("STATE 严重过期: age=%.2fs（阈值=%.0fms）",
age_us / 1e6, stale_threshold_us / 1000)
if now - self._last_severe_warn_time >= 5.0:
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)
else:
logger.warning("STATE 过期: age=%.1fms（阈值=%.0fms）",
age_us / 1000, stale_threshold_us / 1000)
if now - self._last_stale_warn_time >= 5.0:
self._last_stale_warn_time = now
logger.warning("STATE 过期: age=%.1fms（阈值=%.0fms）",
age_us / 1000, stale_threshold_us / 1000)
return age_us < stale_threshold_us
def get_state_freshness(self, state):
infer_camera_modular.py
+2 -1
View File
@@ -253,7 +253,8 @@ class VideoStreaming:
send_count += 1
if send_count % 100 == 0:
self.logger.info("图传统计: 已发送 %d 帧 UDP 数据包", send_count)
# self.logger.info("图传统计: 已发送 %d 帧 UDP 数据包", send_count)
pass
except queue.Empty:
continue
run_mission.py
+4
View File
@@ -122,6 +122,7 @@ class MissionOrchestrator:
self.proxy.set_waypoints_callback(self._on_qgc_waypoints)
missions = cfg["missions"]
landing_cfg = missions.get("landing", {})
self.mission = MissionManager(
proxy=self.proxy,
waypoints=self.waypoints,
@@ -129,6 +130,9 @@ class MissionOrchestrator:
arrival_radius=missions.get("arrival_radius", 0.3),
hold_duration=missions.get("hold_duration", 5.0),
return_to_home=missions.get("return_to_home", True),
max_speed=missions.get("max_speed", 1.2),
pre_land_hover_duration=landing_cfg.get("pre_hover_duration", 3.0),
landing_descent_speed=landing_cfg.get("descent_speed", 0.3),
)
# ================================================================