songhaoyu/opi-yolo
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

2026.7.1小更新

Browse Source
This commit is contained in:
songhaoyu
2026-07-01 10:02:55 +08:00
parent 273ff9905c
commit fd36e7c729
2 changed files with 5 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files
drone_controller/mission_manager.py
+4 -2
View File
@@ -360,7 +360,8 @@ class MissionManager:
mode, armed, alt_rel) mode, armed, alt_rel)
if not home.get("valid", False): 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 return
# A) 已在 OFFBOARD + 已解锁 → 直接巡航 # A) 已在 OFFBOARD + 已解锁 → 直接巡航
@@ -412,7 +413,8 @@ class MissionManager:
return return
if not home.get("valid", False): 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 return
# ---- 解锁成功 → 起飞 ---- # ---- 解锁成功 → 起飞 ----
run_mission.py
+1 -1
View File
@@ -334,7 +334,7 @@ class MissionOrchestrator:
hold_time = wp.get("param1", 8.0) # 悬停时间（如有） 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) 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 # 根据 MAV_CMD 类型构建内部航点
if cmd == 22: # TAKEOFF if cmd == 22: # TAKEOFF