From 2473e3cc0e9d99a3ad6ce90eda577f1b94d2dad1 Mon Sep 17 00:00:00 2001
From: Alvin-lyq <zxwl@44.com>
Date: Wed, 22 Apr 2026 13:04:03 +0800
Subject: [PATCH] =?UTF-8?q?=E5=9B=9E=E9=80=80=E8=B6=85=E6=97=B6=E9=98=88?=
 =?UTF-8?q?=E5=80=BC?=
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---
 src/autonomy/fu/src/fu_node.cpp | 7 +++----
 1 file changed, 3 insertions(+), 4 deletions(-)

diff --git a/src/autonomy/fu/src/fu_node.cpp b/src/autonomy/fu/src/fu_node.cpp
index 8d24ada..da672b9 100644
--- a/src/autonomy/fu/src/fu_node.cpp
+++ b/src/autonomy/fu/src/fu_node.cpp
@@ -984,7 +984,7 @@ class fu_node : public rclcpp::Node
         // LOG_INFO("rtk_signal_good ? %d",rtk_signal_good);
 
         // 状态3: 雷达数据超时，停车
-        if (grid_age > 300.0)
+        if (grid_age > 3.0)
         {
             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
         }
-        else if (grid_age > 300.0)
+        else if (grid_age > 3.0)
         {
             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;
@@ -1074,8 +1074,7 @@ class fu_node : public rclcpp::Node
             is_grid_valid = grid_data_valid_;
         }
 
-        if (grid_age > 300.0)
-            LOG_WARN("[栅格超时检测] 栅格数据已过期(%.3fs)！", grid_age);
+        if (grid_age > 3.0) LOG_WARN("[栅格超时检测] 栅格数据已过期(%.3fs)！", grid_age);
         // else
         //     LOG_INFO_THROTTLE(1000,"[栅格超时检测] 栅格数据正常！");