代码注释添加和优化

src/Autonomous_Navigation/basic.py

@@ -0,0 +1,80 @@
+# test_basic.py
+"""
+Basic connection test
+"""
+
+import airsim
+import cv2
+import numpy as np
+import time
+
+
+def test_connection():
+    print("=" * 50)
+    print("BASIC CONNECTION TEST")
+    print("=" * 50)
+
+    # Test AirSim connection
+    try:
+        print("Connecting to simulator...")
+        client = airsim.MultirotorClient()
+        client.confirmConnection()
+        print("✓ Connection successful!")
+    except Exception as e:
+        print(f"✗ Connection failed: {e}")
+        return False
+
+    # Test image capture
+    try:
+        print("Testing image capture...")
+        responses = client.simGetImages([
+            airsim.ImageRequest("0", airsim.ImageType.Scene)
+        ])
+
+        if responses:
+            response = responses[0]
+            print(f"✓ Image size: {response.width}x{response.height}")
+
+            # Convert to numpy array
+            img1d = np.frombuffer(response.image_data_uint8, dtype=np.uint8)
+            img = img1d.reshape(response.height, response.width, 3)
+
+            # Save test image
+            cv2.imwrite("test_capture.jpg", img)
+            print("✓ Test image saved: test_capture.jpg")
+    except Exception as e:
+        print(f"✗ Image capture failed: {e}")
+
+    # Test drone control
+    try:
+        print("Testing drone control...")
+        client.enableApiControl(True)
+        client.armDisarm(True)
+        print("✓ Drone unlocked")
+
+        print("Simple takeoff test...")
+        client.takeoffAsync().join()
+        time.sleep(2)
+        print("✓ Takeoff successful")
+
+        print("Hovering for 2 seconds...")
+        time.sleep(2)
+
+        print("Landing...")
+        client.landAsync().join()
+        print("✓ Landing successful")
+
+    except Exception as e:
+        print(f"✗ Control test failed: {e}")
+        print("You may need to switch to drone mode in simulator")
+
+    print("\n" + "=" * 50)
+    print("TEST COMPLETE!")
+    print("=" * 50)
+
+    return True
+
+
+if __name__ == "__main__":
+    test_connection()
+    input("\nPress Enter to exit...")