From fcbd2af197da48f7ebc5920c82b66fe0073464fb Mon Sep 17 00:00:00 2001
From: Armor <2654988228@qq.com>
Date: Wed, 14 Jan 2026 23:34:11 +0800
Subject: [PATCH] update

---
 src/KSP_tools/krpc_explore.py | 34 +++++++++++++++++++++++++---------
 1 file changed, 25 insertions(+), 9 deletions(-)

diff --git a/src/KSP_tools/krpc_explore.py b/src/KSP_tools/krpc_explore.py
index cc3d420..2e4ac43 100644
--- a/src/KSP_tools/krpc_explore.py
+++ b/src/KSP_tools/krpc_explore.py
@@ -131,7 +131,7 @@ def auto_land_predictive(host='localhost', port=50000, target_altitude=0.5, targ
         ap = None
 
     def _read_state():
-        """从接口读取状态：alt, surface_speed(标量), vertical_speed, mass, available_thrust, g"""
+        """从接口读取状态：alt, surface_speed(标量), vertical_speed, mass, available_thrust, g, situation_name"""
         flight = vessel.flight(surface_frame) if surface_frame is not None else vessel.flight()
         alt = float(getattr(flight, 'surface_altitude', 0.0))
         srf_speed = float(getattr(flight, 'speed', 0.0))
@@ -139,7 +139,11 @@ def auto_land_predictive(host='localhost', port=50000, target_altitude=0.5, targ
         mass = float(getattr(vessel, 'mass', 0.0))
         avail_thrust = float(getattr(vessel, 'available_thrust', 0.0))
         g_local = _get_g(vessel)
-        return alt, srf_speed, v_speed, mass, avail_thrust, g_local
+        try:
+            situation_name = str(getattr(getattr(vessel, 'situation', None), 'name', ''))
+        except Exception:
+            situation_name = ''
+        return alt, srf_speed, v_speed, mass, avail_thrust, g_local, situation_name
 
     try:
         # 初始确保不点火
@@ -152,7 +156,7 @@ def auto_land_predictive(host='localhost', port=50000, target_altitude=0.5, targ
         ignited = False
         last_log_t = 0.0
         while True:
-            alt, srf_speed, v_speed, mass, avail_thrust, g_local = _read_state()
+            alt, srf_speed, v_speed, mass, avail_thrust, g_local, situation_name = _read_state()
             remaining_alt = max(0.0, alt - float(target_altitude))
 
             # v：使用 surface speed（标量）作为“需要刹掉的速度”
@@ -208,22 +212,34 @@ def auto_land_predictive(host='localhost', port=50000, target_altitude=0.5, targ
 
         # 燃烧闭环：根据 remaining_alt 反推需要的减速度 -> 油门
         while True:
-            alt, srf_speed, v_speed, mass, avail_thrust, g_local = _read_state()
+            alt, srf_speed, v_speed, mass, avail_thrust, g_local, situation_name = _read_state()
             remaining_alt = max(0.0, alt - float(target_altitude))
 
             v = max(0.0, float(srf_speed))
             vf = max(0.0, abs(float(target_vspeed)))
 
-            # 终止条件（接地附近 + 速度已足够小）
-            if remaining_alt <= max(0.2, float(target_altitude)) and v <= (vf + 0.5):
+            # 终止条件：以 vessel.situation.name == 'landed' 为准
+            if str(situation_name).strip().lower() == 'landed':
                 try:
                     vessel.control.throttle = 0.0
                 except Exception:
                     pass
                 status['result'] = 'landed'
-                status['logs'].append('预测着陆完成')
+                status['logs'].append('检测到 vessel.situation=LANDED，着陆完成')
                 if verbose:
-                    print('预测着陆完成')
+                    print('检测到 vessel.situation=LANDED，着陆完成')
+                break
+
+            # 兜底：极低高度 + 速度足够小（防止 situation 迟迟不切换导致卡死）
+            if remaining_alt <= max(0.2, float(target_altitude)) and v <= (vf + 0.5):
+                try:
+                    vessel.control.throttle = 0.0
+                except Exception:
+                    pass
+                status['result'] = 'touchdown_pending'
+                status['logs'].append('达到高度/速度阈值，但 vessel.situation 仍未变为 LANDED')
+                if verbose:
+                    print('达到高度/速度阈值，但 vessel.situation 仍未变为 LANDED')
                 break
 
             # 计算所需净向上加速度
@@ -258,7 +274,7 @@ def auto_land_predictive(host='localhost', port=50000, target_altitude=0.5, targ
                 status['logs'].append(msg)
                 print(msg)
 
-            time.sleep(0.05)
+            time.sleep(0.01)
 
     finally:
         try: