2026.7.1小更新

2026-07-01 10:02:55 +08:00
parent 273ff9905c
commit fd36e7c729
2 changed files with 5 additions and 3 deletions
@@ -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 ----