fix: mod

control.py

@@ -91,11 +91,12 @@ class AutoControl:
         self.target = [0, 0, 0, 0]
         self.tag_detector = apriltag.Detector(families='tag36h11')
 
-        self.yaw_controller = PIDController(1, 0, 0.1, time.time())
+        self.yaw_controller = PIDController(0.3, 0, 0.1, time.time())
         self.for_back_controler = PIDController(100, 0, 0.1, time.time())
         self.left_right_controler = PIDController(50, 0, 0.1, time.time())  # 摄像头左右视野较小
         self.loss_target_times = 0
         self.is_get_tag = False
+        self.get_tag_times = 0
 
     def detect(self, front_img):
         cv2.imshow("ROI select", front_img)
@@ -154,6 +155,8 @@ class AutoControl:
         if self.target[1] > self.uav.front_cam_shape[1] * 0.9:
             print(self.target[1], self.uav.front_cam_shape[0]/10)
             logging.warn("ready to land")
+            self.uav.yaw_velocity = 0
+            self.uav.for_back_velocity = 10
             self.uav.status = Status.LANDING
             self.uav.tello.set_video_direction(Tello.CAMERA_DOWNWARD)
 
@@ -169,6 +172,8 @@ class AutoControl:
                 tag_list.append(tag)
 
         if tag_list:
+            self.get_tag_times += 1
+            if self.get_tag_times == 5:
                 self.is_get_tag = True
             for_vel = -1 * self.for_back_controler.control(tag_list[0].pose_t[0], time.time())
             self.uav.for_back_velocity = int(for_vel)