Adjust movement parameters in task 2.5 for improved execution by reducing distance, and increase maximum iterations in task 3 for enhanced stability during operations.

task_2_5/task_2_5.py

@@ -14,7 +14,7 @@ observe = True
 
 def run_task_2_5(Ctrl, msg, direction='left'):
     section('任务2.5：预备进入任务3', "启动")
-    go_straight(Ctrl, msg, distance=-0.2, speed=0.5, observe=observe)
+    go_straight(Ctrl, msg, distance=-0.1, speed=0.5, observe=observe)
 
     # TEST
     turn_degree_v2(Ctrl, msg, 90, absolute=observe)
@@ -33,7 +33,7 @@ def run_task_2_5(Ctrl, msg, direction='left'):
         no_end_reset=True,
     )
 
-    go_straight(Ctrl, msg, distance=0.3, speed=0.5, observe=observe)
+    go_straight(Ctrl, msg, distance=0.2, speed=0.5, observe=observe)
     section('任务2.5-2：第二次旋转', "移动")
 
 def run_task_2_5_back(Ctrl, msg, direction='left'):

task_3/task_3.py

@@ -101,7 +101,7 @@ def pass_up_down(ctrl, msg):
         stable_threshold = 8  # 连续15次检测z轴不再增加则认为已经停止
         z_speed_threshold = 0.01  # z轴速度阈值，小于这个值认为已经停止爬升
         climb_speed_threshold = 0.05  # 检测到开始爬坡的速度阈值
-        max_iterations = 180  # 最大循环次数，作为安全保障
+        max_iterations = 230  # 最大循环次数，作为安全保障
         min_iterations = 170  # 最小循环次数，作为安全保障
 
         # 姿态判断参数