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超级放宽超时阈值

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lyq 2026-04-20 10:08:01 +08:00
parent 4e48a403e5
commit 10ab3e9508
1 changed files with 3 additions and 3 deletions
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6
src/autonomy/fu/src/fu_node.cpp
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@ -984,7 +984,7 @@ class fu_node : public rclcpp::Node
// LOG_INFO("rtk_signal_good ? %d",rtk_signal_good); // LOG_INFO("rtk_signal_good ? %d",rtk_signal_good);
// 状态3: 雷达数据超时，停车 // 状态3: 雷达数据超时，停车
if (grid_age > 3.0) if (grid_age > 300.0)
{ {
return 3; return 3;
} }
@ -1038,7 +1038,7 @@ class fu_node : public rclcpp::Node
{ {
// 数据在3秒内，继续使用现有数据进行障碍物检测 // 数据在3秒内，继续使用现有数据进行障碍物检测
} }
else if (grid_age > 3.0) else if (grid_age > 300.0)
{ {
LOG_WARN("[紧急停车] 栅格数据过期(%.3fs)，执行安全停车！", grid_age); LOG_WARN("[紧急停车] 栅格数据过期(%.3fs)，执行安全停车！", grid_age);
state_machine_->publish_speed = 0; state_machine_->publish_speed = 0;
@ -1074,7 +1074,7 @@ class fu_node : public rclcpp::Node
is_grid_valid = grid_data_valid_; is_grid_valid = grid_data_valid_;
} }
if (grid_age > 3.0) if (grid_age > 300.0)
LOG_WARN("[栅格超时检测] 栅格数据已过期(%.3fs)！", grid_age); LOG_WARN("[栅格超时检测] 栅格数据已过期(%.3fs)！", grid_age);
// else // else
// LOG_INFO_THROTTLE(1000,"[栅格超时检测] 栅格数据正常！"); // LOG_INFO_THROTTLE(1000,"[栅格超时检测] 栅格数据正常！");