1.0

App/nav/global_nav.c

@@ -220,8 +220,18 @@ static void execute_turn(const CorridorObs_t* obs,
                          uint32_t now_ms,
                          GlobalNavOutput_t* out)
 {
-    float imu_yaw = board->imu_yaw_continuous.is_valid
-                    ? board->imu_yaw_continuous.value : 0.0f;
+    /* [改进G] IMU 失效安全保护: 没有 IMU 数据时立即停车，不盲转。
+     * 超时后会被外部超时保护捕获，进入 GNAV_ERROR。 */
+    if (!board->imu_yaw_continuous.is_valid) {
+        out->override_v  = 0.0f;
+        out->override_w  = 0.0f;
+        out->use_override = true;
+        out->request_corridor = false;
+        out->safety_mode = SAFETY_MODE_IDLE;
+        return;
+    }
+
+    float imu_yaw = board->imu_yaw_continuous.value;
 
     /* 已转过的角度 (取绝对值) */
     float delta = (imu_yaw - s_nav.turn_start_yaw_deg) * s_nav.turn_sign;
@@ -438,8 +448,9 @@ void GlobalNav_Update(const CorridorObs_t*      obs,
         s_last_odom_vx = odom_vx;
     }
 
+    /* [改进G] IMU yaw 提取: 失效时使用参考值，保持航向不变而不是跳到 0 */
     float imu_yaw_deg = board->imu_yaw_continuous.is_valid
-                        ? board->imu_yaw_continuous.value : 0.0f;
+                        ? board->imu_yaw_continuous.value : s_nav.heading_ref_deg;
 
     /* 默认输出 */
     out->use_override     = true;