1.0

App/app_tasks.c

@@ -282,8 +282,8 @@ void AppTasks_RunVl53Task_Impl(void *argument)
         // 统一推送到黑板
         Blackboard_UpdateVl53(&combined_snap);
 
-        // 【修改 3】：休眠 100ms 匹配 VL53L0X 的新测距周期
-        osDelay(100);
+        // 与 VL53 约 33ms 的连续测量节奏匹配，避免高频空轮询旧数据。
+        osDelay(33);
     }
 }
 
@@ -390,9 +390,15 @@ void AppTasks_RunNavTask_Impl(void *argument)
       raw_cmd.flags = 0U;
     }
 
-    /* --- Step 6: 安全仲裁 (CORRIDOR 模式，兼容旧行为) --- */
+    /* --- Step 6: 安全仲裁 (按脚本阶段切换模式) --- */
     SegFsmOutput_t fsm_out;
-    SegFsm_Update(&raw_cmd, &obs, &corridor_state, SAFETY_MODE_CORRIDOR, &fsm_out);
+    SafetyMode_t safety_mode = SAFETY_MODE_CORRIDOR;
+    if (!script_out.active) {
+      safety_mode = SAFETY_MODE_IDLE;
+    } else if (script_out.stage == SCRIPT_STAGE_TURN_AT_END) {
+      safety_mode = SAFETY_MODE_TURN;
+    }
+    SegFsm_Update(&raw_cmd, &obs, &corridor_state, safety_mode, &fsm_out);
 
 #endif