From b37be91922274fbea1aa8a4190a6a02befcec19e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=E4=B8=80=E5=96=B5?= <yimiao9036@outlook.com>
Date: Wed, 1 Jul 2026 15:31:03 +0800
Subject: [PATCH] =?UTF-8?q?2026.7.1=E7=AE=80=E5=8C=96=E6=97=A5=E5=BF=97?=
 =?UTF-8?q?=E4=B8=8E=E9=85=8D=E7=BD=AE=E6=96=87=E4=BB=B6=E4=BC=98=E5=8C=96?=
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---
 config.json             |  7 +++++++
 infer_camera_modular.py | 14 ++++++++++++--
 run_mission.py          |  9 +++++----
 3 files changed, 24 insertions(+), 6 deletions(-)

diff --git a/config.json b/config.json
index 5cb1d9c..f369837 100644
--- a/config.json
+++ b/config.json
@@ -32,6 +32,13 @@
         "enabled": true,
         "tcp_port": 9999
     },
+    "missions": {
+        "target_altitude": 3.0,
+        "arrival_radius": 0.3,
+        "hold_duration": 8.0,
+        "return_to_home": false,
+        "target_lost_timeout": null
+    },
     "log": {
     "enable_flight_log": true,
     "flight_log_interval": 20,
diff --git a/infer_camera_modular.py b/infer_camera_modular.py
index 7f9863f..b6e5b7f 100644
--- a/infer_camera_modular.py
+++ b/infer_camera_modular.py
@@ -223,12 +223,13 @@ class VideoStreaming:
             pass
 
     def _udp_stream_sender_worker(self):
-        """ 原图传发送线程（增加帧统计日志） """
+        """ 原图传发送线程（异常降噪：首次报错后静默，恢复时输出日志） """
         sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
         server_address = (self.gs_ip, self.udp_port)
         self.logger.info("图传后台线程已启动，目标地面站 -> %s:%s",
                          self.gs_ip, self.udp_port)
         send_count = 0
+        tx_error_reported = False   # 标记当前是否处于异常状态，避免刷屏
 
         while self.is_running:
             try:
@@ -244,13 +245,22 @@ class VideoStreaming:
                     self.logger.debug("图像数据过大 (%d bytes), 跳过发送", len(data))
                     continue
                 sock.sendto(data, server_address)
+
+                # ---- 发送成功：若之前处于异常状态，输出恢复日志 ----
+                if tx_error_reported:
+                    tx_error_reported = False
+                    self.logger.info("✅ 图传已恢复: %s:%s", self.gs_ip, self.udp_port)
+
                 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)
+
             except queue.Empty:
                 continue
             except Exception as e:
-                self.logger.exception("图传线程异常: %s", e)
+                if not tx_error_reported:
+                    tx_error_reported = True
+                    self.logger.error("图传异常: %s (后续同类错误静默，恢复后输出日志)", e)
                 time.sleep(0.1)
         sock.close()
 
diff --git a/run_mission.py b/run_mission.py
index 66c4c3b..693381a 100644
--- a/run_mission.py
+++ b/run_mission.py
@@ -119,13 +119,14 @@ class MissionOrchestrator:
 
         self.proxy.set_waypoints_callback(self._on_qgc_waypoints)
 
+        missions = cfg["missions"]
         self.mission = MissionManager(
             proxy=self.proxy,
             waypoints=self.waypoints,
-            target_altitude=3.0,
-            arrival_radius=0.3,
-            hold_duration=8.0,
-            return_to_home=False,
+            target_altitude=missions.get("target_altitude", 3.0),
+            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),
         )
 
         # ================================================================