From b22f87b2040bfd031f55ddbd4e64e5b8d2bb49a8 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E4=B8=80=E5=96=B5?= <yimiao9036@outlook.com>
Date: Tue, 30 Jun 2026 18:12:20 +0800
Subject: [PATCH] =?UTF-8?q?2026.6.30=E5=B0=8F=E6=9B=B4=E6=96=B0?=
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---
 drone_controller/mission_manager.py | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/drone_controller/mission_manager.py b/drone_controller/mission_manager.py
index faa9edd..d2ac271 100644
--- a/drone_controller/mission_manager.py
+++ b/drone_controller/mission_manager.py
@@ -329,13 +329,13 @@ class MissionManager:
           B) 未解锁 → 发 ARM 指令
           C) 已解锁但非 OFFBOARD → 进入 ARMING 等待后续 TAKEOFF 序列
         """
+        global need_homeLog
         try:
             drone = state["drone"]
             armed = drone.get("armed", False)
             mode = drone.get("mode", "")
             alt_rel = drone.get("alt_rel", 0.0)
             home = state.get("home", {})
-            need_homeLog = True
 
             logger.info("[INIT] mode=%s armed=%s alt_rel=%.1fm",
                         mode, armed, alt_rel)
@@ -382,7 +382,6 @@ class MissionManager:
         try:
             armed = state["drone"].get("armed", False)
             home = state.get("home", {})
-            need_homeLog = True
 
             if not armed:
                 elapsed = time.time() - self._state_start_time