2.8.2 grid mission

src/GUI/gui.py

@@ -277,7 +277,7 @@ class ControlStationUI(QMainWindow):
         # ================================================================================
         self.mission_planner = FormationPlanner(
             spacing=5.0,           # 5 公尺間距
-            base_altitude=10.0,    # 基準高度 10 公尺
+            base_altitude=25.0,    # 基準高度 25 公尺
             altitude_diff=2.0      # 高低差 2 公尺
         )
         # ================================================================================
@@ -1146,7 +1146,7 @@ class ControlStationUI(QMainWindow):
 
     def handle_takeoff(self, drone_id):
         loop = asyncio.get_event_loop()
-        future = self.monitor.takeoff_drone(drone_id, 10.0)
+        future = self.monitor.takeoff_drone(drone_id, 25.0)
         loop.create_task(self.handle_service_response(future, f"起飛 {drone_id}"))
 
     def handle_setpoint_selected(self):
@@ -1231,7 +1231,7 @@ class ControlStationUI(QMainWindow):
         
         loop = asyncio.get_event_loop()
         for drone_id in selected:
-            future = self.monitor.takeoff_drone(drone_id, 10.0)
+            future = self.monitor.takeoff_drone(drone_id, 25.0)
             loop.create_task(self.handle_service_response(future, f"批次起飛 {drone_id}"))
 
     # ================================================================================
@@ -2313,7 +2313,7 @@ class ControlStationUI(QMainWindow):
         _log("INFO", f"地圖點擊: {lat:.6f}, {lon:.6f} -> Group {group.group_id} ({group.mission_type})")
         panel = self.group_panels.get(group.group_id)
         params = panel.get_mission_params() if panel else {}
-        base_alt = params.get('base_altitude', params.get('altitude', 10.0))
+        base_alt = params.get('base_altitude', params.get('altitude', 25.0))
         target_gps = (lat, lon, base_alt)
         self.statusBar().showMessage(
             f"Group {group.group_id}: 正在規劃 {group.mission_type} ({len(selected_drones)} 台)", 2000)
@@ -2365,7 +2365,7 @@ class ControlStationUI(QMainWindow):
 
         panel = self.group_panels.get(group.group_id)
         params = panel.get_mission_params() if panel else {}
-        base_alt = params.get('altitude', 10.0)
+        base_alt = params.get('altitude', 25.0)
         self.statusBar().showMessage(
             f"Group {group.group_id}: 正在規劃 Grid Sweep ({len(selected_drones)} 台)", 2000)
         drone_gps_positions = self._collect_drone_gps(selected_drones)
@@ -2426,7 +2426,7 @@ class ControlStationUI(QMainWindow):
 
         panel = self.group_panels.get(group.group_id)
         params = panel.get_mission_params() if panel else {}
-        base_alt = params.get('altitude', 10.0)
+        base_alt = params.get('altitude', 25.0)
         self.statusBar().showMessage(
             f"Group {group.group_id}: 正在規劃跟隨模式 ({len(selected_drones)} 台)", 2000)
 

src/GUI/mission_group.py

@@ -24,10 +24,10 @@ GROUP_COLORS = [
 
 DEFAULT_MISSION_PARAM_VALUES = {
     'spacing': '5.0',
-    'base_altitude': '10.0',
+    'base_altitude': '25.0',
     'altitude_diff': '2.0',
     'radius': '10.0',
-    'altitude': '10.0',
+    'altitude': '25.0',
     'start_angle': '0',
     'lateral_offset': '3.0',
     'longitudinal_spacing': '5.0',
@@ -249,8 +249,8 @@ class GroupPanel(QWidget):
         takeoff_row.setSpacing(3)
         self.alt_input = QComboBox()
         self.alt_input.setEditable(True)
-        self.alt_input.addItems(["5", "10", "15", "20"])
+        self.alt_input.addItems(["5", "10", "15", "20", "25"])
-        self.alt_input.setCurrentText("10")
+        self.alt_input.setCurrentText("25")
         self.alt_input.setStyleSheet(COMBO)
         alt_lbl = QLabel("m")
         alt_lbl.setStyleSheet(LBL)
@@ -679,5 +679,5 @@ class GroupPanel(QWidget):
         try:
             alt = float(self.alt_input.currentText())
         except ValueError:
-            alt = 10.0
+            alt = 25.0
         self.takeoff_requested.emit(self.group.group_id, alt)

src/GUI/mission_orchestrator.py

@@ -67,7 +67,7 @@ DEFAULT_REPLAN_CAP_SEC = 1.0   # 重算週期上限 (s)
 DEFAULT_CIRCLE_RADIUS = 10.0   # 包圍半徑 (m)
 DEFAULT_LON_SPACING = 5.0      # 隊形縱向間距 (m)
 DEFAULT_LAT_OFFSET = 3.0       # 隊形橫向錯開 (m)
-DEFAULT_FORMATION_ALT = 10.0   # 隊形基準高度 (m，相對 home)
+DEFAULT_FORMATION_ALT = 25.0   # 隊形基準高度 (m，相對 home)
 DEFAULT_ALT_LAYER_GAP = 6.0    # A/B 上下層垂直間隔 (m)：A=基準+gap/2、B=基準-gap/2
 DEFAULT_MIN_ALT_FLOOR = 5.0    # 相對 home 的最低安全高度 (m)：B 下層不得低於此值
 DEFAULT_LEAD_TIME_CAP = 4.0    # 前置攔截 lead_time 上限 (s)

src/GUI/mission_planner.py

@@ -58,7 +58,7 @@ class FormationPlanner:
     """隊形規劃器"""
 
     def __init__(self, spacing: float = 5.0,
-                 base_altitude: float = 10.0,
+                 base_altitude: float = 25.0,
                  altitude_diff: float = 2.0):
         self.spacing = spacing
         self.base_altitude = base_altitude
@@ -179,7 +179,7 @@ class FormationPlanner:
         params = params or {}
         N = len(drone_positions)
         radius = params.get('radius', 10.0)
-        altitude = params.get('altitude', 10.0)
+        altitude = params.get('altitude', 25.0)
         start_angle = params.get('start_angle', 0.0)
 
         center_x, center_y, center_z = target_point