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2026.6.30小更新

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songhaoyu
2026-06-30 18:12:20 +08:00
parent 5eeb67a9e1
commit b22f87b204
1 changed files with 1 additions and 2 deletions
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drone_controller/mission_manager.py
+1 -2
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@@ -329,13 +329,13 @@ class MissionManager:
B) 未解锁 → 发 ARM 指令 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 C) 已解锁但非 OFFBOARD → 进入 ARMING 等待后续 TAKEOFF 序列
""" """
global need_homeLog
try: try:
drone = state["drone"] drone = state["drone"]
armed = drone.get("armed", False) armed = drone.get("armed", False)
mode = drone.get("mode", "") mode = drone.get("mode", "")
alt_rel = drone.get("alt_rel", 0.0) alt_rel = drone.get("alt_rel", 0.0)
home = state.get("home", {}) home = state.get("home", {})
need_homeLog = True
logger.info("[INIT] mode=%s armed=%s alt_rel=%.1fm", logger.info("[INIT] mode=%s armed=%s alt_rel=%.1fm",
mode, armed, alt_rel) mode, armed, alt_rel)
@@ -382,7 +382,6 @@ class MissionManager:
try: try:
armed = state["drone"].get("armed", False) armed = state["drone"].get("armed", False)
home = state.get("home", {}) home = state.get("home", {})
need_homeLog = True
if not armed: if not armed:
elapsed = time.time() - self._state_start_time elapsed = time.time() - self._state_start_time