From fd36e7c7298e93ab505193681ee8deee9c25307b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E4=B8=80=E5=96=B5?= Date: Wed, 1 Jul 2026 10:02:55 +0800 Subject: [PATCH] =?UTF-8?q?2026.7.1=E5=B0=8F=E6=9B=B4=E6=96=B0?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- drone_controller/mission_manager.py | 6 ++++-- run_mission.py | 2 +- 2 files changed, 5 insertions(+), 3 deletions(-) diff --git a/drone_controller/mission_manager.py b/drone_controller/mission_manager.py index 006830f..2059cae 100644 --- a/drone_controller/mission_manager.py +++ b/drone_controller/mission_manager.py @@ -360,7 +360,8 @@ class MissionManager: mode, armed, alt_rel) if not home.get("valid", False): - logger.warning("[INIT] home.valid=false，等待起飞点有效...") + self._throttle_log("home_valid_init", 5.0, + "[INIT] home.valid=false，等待起飞点有效...") return # A) 已在 OFFBOARD + 已解锁 → 直接巡航 @@ -412,7 +413,8 @@ class MissionManager: return if not home.get("valid", False): - logger.warning("[ARMING] home.valid=false，等待起飞点有效...") + self._throttle_log("home_valid_arming", 5.0, + "[ARMING] home.valid=false，等待起飞点有效...") return # ---- 解锁成功 → 起飞 ---- diff --git a/run_mission.py b/run_mission.py index 3a20a10..10cad8c 100644 --- a/run_mission.py +++ b/run_mission.py @@ -334,7 +334,7 @@ class MissionOrchestrator: hold_time = wp.get("param1", 8.0) # 悬停时间（如有） x, y, z = latlon_to_ned(lat, lon, alt, ref_lat, ref_lon, ref_alt) - print(f"航点信息；{x}{y}{z}") + # print(f"航点信息；{x}{y}{z}") # 根据 MAV_CMD 类型构建内部航点 if cmd == 22: # TAKEOFF