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修正与QGC通讯功能

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lulijing
2025-09-11 21:54:41 +08:00
parent f36e8279e8
commit fbe469ab60
176 changed files with 4883 additions and 3178 deletions
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149
tools/response.json Normal file
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{
"plan_id": "9f743b03-8ba7-4a06-9260-337463887fc2",
"root": {
"children": [
{
"children": [
{
"name": "preflight_checks",
"params": {
"check_level": "comprehensive"
},
"type": "action"
},
{
"name": "takeoff",
"params": {
"altitude": 2
},
"type": "action"
},
{
"name": "fly_to_waypoint",
"params": {
"acceptance_radius": 2,
"x": 5,
"y": 3,
"z": 2
},
"type": "action"
},
{
"children": [
{
"children": [
{
"name": "loiter",
"params": {
"duration": 10
},
"type": "action"
},
{
"name": "object_detect",
"params": {
"count": 1,
"description": "学生",
"target_class": "person"
},
"type": "action"
}
],
"name": "DirectDetectionSequence",
"type": "Sequence"
},
{
"name": "search_pattern",
"params": {
"center_x": 5,
"center_y": 3,
"center_z": 2,
"count": 1,
"description": "学生",
"pattern_type": "spiral",
"radius": 50,
"target_class": "person"
},
"type": "action"
}
],
"name": "TargetAcquisitionSelector",
"params": {
"memory": true
},
"type": "Selector"
},
{
"name": "track_object",
"params": {
"description": "学生",
"min_confidence": 0.7,
"safe_distance": 10,
"target_class": "person",
"track_time": 20
},
"type": "action"
},
{
"name": "land",
"params": {
"mode": "home"
},
"type": "action"
}
],
"name": "MainTrackingTask",
"type": "Sequence"
},
{
"children": [
{
"name": "battery_above",
"params": {
"threshold": 0.35
},
"type": "condition"
},
{
"name": "gps_status",
"params": {
"min_satellites": 8
},
"type": "condition"
},
{
"children": [
{
"name": "emergency_return",
"params": {
"reason": "safety_breach"
},
"type": "action"
},
{
"name": "land",
"params": {
"mode": "home"
},
"type": "action"
}
],
"name": "EmergencyHandler",
"type": "Sequence"
}
],
"name": "SafetyMonitor",
"params": {
"memory": true
},
"type": "Selector"
}
],
"name": "TrackingMission",
"params": {
"policy": "all_success"
},
"type": "Parallel"
},
"visualization_url": "/static/py_tree.png"
}