！！！！！！！！和篇xtalk！！！！！！！！
VERSION:1.5.28
RUN CMD: adb shell ls /data/log/dreame_factory_run_parameters.yaml
RUN CMD: adb shell cat /data/log/dreame_factory_run_parameters.yaml
SUCCESS: /data/log/dreame_factory_run_parameters.yaml found, load params
RUN CMD: adb shell ls /data/log/structural_parameters.yaml
ERROR: /data/log/structural_parameters.yaml not found!
global_xtalk_pre_limit:30000
climb_up_pitch_limit:[1000, 1500]
climb_tof_to_ground_distance:23.53
climb_rear_wheel_to_ground_distance:8.5
climb_rear_wheel_to_wheel_distance:163.9
climb_tof_to_wheel_distance:149.11
['left_front_cliff', 'right_front_cliff']
RUN CMD: adb shell ls /mnt/misc/single_dtof.flag
start calibrate xtalk
RUN CMD: adb shell avacmd mcubase '{\"type\":\"tof\",\"cmd\":\"open_tof\"}'
{"ret":"ok"}


2026-05-26 12:56:28.800117  RESULT:
RUN CMD: adb shell avacmd mcubase '{\"type\":\"tof\",\"module\":\"left_front_cliff\",\"cmd\":\"get_distance\"}'
2026-05-26 12:56:28.907117  RESULT: {"value":30000,"ret":"ok"}


RUN CMD: adb shell avacmd mcubase '{\"type\":\"tof\",\"module\":\"left_front_cliff\",\"cmd\":\"cali_xtalk\"}'
RUN CMD: adb shell avacmd mcubase '{\"type\":\"tof\",\"module\":\"left_front_cliff\",\"cmd\":\"get_cali_status\"}'
2026-05-26 12:56:30.127117 RESULT: {"value":1,"ret":"ok"}


RUN CMD: adb shell avacmd mcubase '{\"type\":\"tof\",\"module\":\"left_front_cliff\",\"cmd\":\"get_cali_status\"}'
2026-05-26 12:56:30.426116 RESULT: {"value":2,"ret":"ok"}


left_front_cliff OK
2026-05-26 12:56:30.927117  RESULT:
RUN CMD: adb shell avacmd mcubase '{\"type\":\"tof\",\"module\":\"right_front_cliff\",\"cmd\":\"get_distance\"}'
2026-05-26 12:56:31.049117  RESULT: {"value":30000,"ret":"ok"}


RUN CMD: adb shell avacmd mcubase '{\"type\":\"tof\",\"module\":\"right_front_cliff\",\"cmd\":\"cali_xtalk\"}'
RUN CMD: adb shell avacmd mcubase '{\"type\":\"tof\",\"module\":\"right_front_cliff\",\"cmd\":\"get_cali_status\"}'
2026-05-26 12:56:32.261116 RESULT: {"value":1,"ret":"ok"}


RUN CMD: adb shell avacmd mcubase '{\"type\":\"tof\",\"module\":\"right_front_cliff\",\"cmd\":\"get_cali_status\"}'
2026-05-26 12:56:32.580118 RESULT: {"value":2,"ret":"ok"}


right_front_cliff OK


！！！！！！！！ground_offset！！！！！！！！
VERSION:1.5.28
RUN CMD: adb shell ls /data/log/dreame_factory_run_parameters.yaml
RUN CMD: adb shell cat /data/log/dreame_factory_run_parameters.yaml
SUCCESS: /data/log/dreame_factory_run_parameters.yaml found, load params
RUN CMD: adb shell ls /data/log/structural_parameters.yaml
ERROR: /data/log/structural_parameters.yaml not found!
global_xtalk_pre_limit:30000
climb_up_pitch_limit:[1000, 1500]
climb_tof_to_ground_distance:23.53
climb_rear_wheel_to_ground_distance:8.5
climb_rear_wheel_to_wheel_distance:163.9
climb_tof_to_wheel_distance:149.11
['left_front_cliff', 'right_front_cliff']
RUN CMD: adb shell ls /mnt/misc/single_dtof.flag
start calibrate ground_offset
RUN CMD: adb shell avacmd clb '{\"type\":\"system\",\"cmd\":\"print_roll_pitch\"}'
ROLL-PITCH: {"roll":-21.0,"pitch":-3.0}


RUN CMD: adb shell avacmd clb '{\"type\":\"system\",\"cmd\":\"print_roll_pitch\"}'
ROLL-PITCH: {"roll":-21.0,"pitch":-3.0}


RUN CMD: adb shell avacmd clb '{\"type\":\"system\",\"cmd\":\"print_roll_pitch\"}'
ROLL-PITCH: {"roll":-20.0,"pitch":-2.0}


RUN CMD: adb shell avacmd clb '{\"type\":\"system\",\"cmd\":\"print_roll_pitch\"}'
ROLL-PITCH: {"roll":-21.0,"pitch":-2.0}


RUN CMD: adb shell avacmd clb '{\"type\":\"system\",\"cmd\":\"print_roll_pitch\"}'
ROLL-PITCH: {"roll":-21.0,"pitch":-2.0}


RUN CMD: adb shell avacmd clb '{\"type\":\"system\",\"cmd\":\"print_roll_pitch\"}'
ROLL-PITCH: {"roll":-22.0,"pitch":-2.0}


RUN CMD: adb shell avacmd clb '{\"type\":\"system\",\"cmd\":\"print_roll_pitch\"}'
ROLL-PITCH: {"roll":-21.0,"pitch":-2.0}


RUN CMD: adb shell avacmd clb '{\"type\":\"system\",\"cmd\":\"print_roll_pitch\"}'
ROLL-PITCH: {"roll":-21.0,"pitch":-2.0}


RUN CMD: adb shell avacmd clb '{\"type\":\"system\",\"cmd\":\"print_roll_pitch\"}'
ROLL-PITCH: {"roll":-21.0,"pitch":-2.0}


RUN CMD: adb shell avacmd clb '{\"type\":\"system\",\"cmd\":\"print_roll_pitch\"}'
ROLL-PITCH: {"roll":-21.0,"pitch":-2.0}


get_roll_pitch return ROLL: -21.0 , PITCH: -2.2
RUN CMD: adb shell "echo -n -2.2 > /tmp/log/4cm_point_tof_test_pitch.txt
DEPTH: 20.0
RUN CMD: adb shell avacmd mcubase '{\"type\":\"tof\",\"module\":\"left_front_cliff\",\"cmd\":\"cali_offset\",\"value\":43.53}'
RESULT: {"value":43.529998779296878,"ret":"ok"}


RUN CMD: adb shell avacmd mcubase '{\"type\":\"tof\",\"module\":\"left_front_cliff\",\"cmd\":\"get_cali_status\"}'
RUN CMD: adb shell avacmd mcubase '{\"type\":\"tof\",\"module\":\"left_front_cliff\",\"cmd\":\"get_cali_status\"}'
RUN CMD: adb shell avacmd mcubase '{\"type\":\"tof\",\"module\":\"left_front_cliff\",\"cmd\":\"get_cali_status\"}'
RUN CMD: adb shell avacmd mcubase '{\"type\":\"tof\",\"module\":\"left_front_cliff\",\"cmd\":\"get_cali_status\"}'
RUN CMD: adb shell avacmd mcubase '{\"type\":\"tof\",\"module\":\"left_front_cliff\",\"cmd\":\"get_cali_status\"}'
RUN CMD: adb shell avacmd mcubase '{\"type\":\"tof\",\"module\":\"left_front_cliff\",\"cmd\":\"get_cali_status\"}'
RUN CMD: adb shell avacmd mcubase '{\"type\":\"tof\",\"module\":\"left_front_cliff\",\"cmd\":\"get_cali_status\"}'
left_front_cliff OK
RUN CMD: adb shell avacmd mcubase '{\"type\":\"tof\",\"module\":\"right_front_cliff\",\"cmd\":\"cali_offset\",\"value\":43.53}'
RESULT: {"value":43.529998779296878,"ret":"ok"}


RUN CMD: adb shell avacmd mcubase '{\"type\":\"tof\",\"module\":\"right_front_cliff\",\"cmd\":\"get_cali_status\"}'
RUN CMD: adb shell avacmd mcubase '{\"type\":\"tof\",\"module\":\"right_front_cliff\",\"cmd\":\"get_cali_status\"}'
RUN CMD: adb shell avacmd mcubase '{\"type\":\"tof\",\"module\":\"right_front_cliff\",\"cmd\":\"get_cali_status\"}'
RUN CMD: adb shell avacmd mcubase '{\"type\":\"tof\",\"module\":\"right_front_cliff\",\"cmd\":\"get_cali_status\"}'
RUN CMD: adb shell avacmd mcubase '{\"type\":\"tof\",\"module\":\"right_front_cliff\",\"cmd\":\"get_cali_status\"}'
RUN CMD: adb shell avacmd mcubase '{\"type\":\"tof\",\"module\":\"right_front_cliff\",\"cmd\":\"get_cali_status\"}'
RUN CMD: adb shell avacmd mcubase '{\"type\":\"tof\",\"module\":\"right_front_cliff\",\"cmd\":\"get_cali_status\"}'
right_front_cliff OK


！！！！！！！！子医crossing！！！！！！！！
VERSION:1.5.28
RUN CMD: adb shell ls /data/log/dreame_factory_run_parameters.yaml
RUN CMD: adb shell cat /data/log/dreame_factory_run_parameters.yaml
SUCCESS: /data/log/dreame_factory_run_parameters.yaml found, load params
RUN CMD: adb shell ls /data/log/structural_parameters.yaml
ERROR: /data/log/structural_parameters.yaml not found!
global_xtalk_pre_limit:30000
climb_up_pitch_limit:[1000, 1500]
climb_tof_to_ground_distance:23.53
climb_rear_wheel_to_ground_distance:8.5
climb_rear_wheel_to_wheel_distance:163.9
climb_tof_to_wheel_distance:149.11
['left_front_cliff', 'right_front_cliff']
RUN CMD: adb shell ls /mnt/misc/single_dtof.flag
start calibrate crossing gradient
DEPTH: 20.0
RUN CMD: adb shell avacmd clb '{\"type\":\"system\",\"cmd\":\"print_roll_pitch\"}'
ROLL-PITCH: {"roll":323.0,"pitch":1521.0}


get_roll_pitch return ROLL: 323.0 , PITCH: 1521.0
left_front_cliff,right_front_cliff ERROR: the robot pose is not valid, PLEASE make sure the robot is stand in good way, pose:[323.0vs100] [1521.0vs[1000, 1500]]


！！！！！！！！冽円xtalk！！！！！！！！
{"ret":"ok"}



！！！！！！！！冽円xtalk！！！！！！！！
{"ret":"ok"}



！！！！！！！！冽円炎協殊臥！！！！！！！！
cat: can't open '/mnt/misc/dtof_right_edge_follow.json': No such file or directory



！！！！！！！！恣和篇炎協殊臥！！！！！！！！
{

    "chip_id": 5439553,

    "sn_num": "25025543623716",

    "cg_pos": -4,

    "cg_maxratio": 7,

    "offset": -4.363330841064453,

    "cg_pos_highpower": -2,

    "cg_maxratio_highpower": 9,

    "offset_highpower": 5.089599609375

}

！！！！！！！！嘔和篇炎協殊臥！！！！！！！！
{

    "chip_id": 5439553,

    "sn_num": "25029c24625616",

    "cg_pos": -5,

    "cg_maxratio": 10,

    "offset": -7.504997253417969,

    "cg_pos_highpower": -3,

    "cg_maxratio_highpower": 13,

    "offset_highpower": 2.2783355712890627

}

！！！！！！！！菜医crossing！！！！！！！！
VERSION:1.5.28
RUN CMD: adb shell ls /data/log/dreame_factory_run_parameters.yaml
RUN CMD: adb shell cat /data/log/dreame_factory_run_parameters.yaml
SUCCESS: /data/log/dreame_factory_run_parameters.yaml found, load params
RUN CMD: adb shell ls /data/log/structural_parameters.yaml
ERROR: /data/log/structural_parameters.yaml not found!
global_xtalk_pre_limit:30000
climb_up_pitch_limit:[1000, 1500]
climb_tof_to_ground_distance:23.53
climb_rear_wheel_to_ground_distance:8.5
climb_rear_wheel_to_wheel_distance:163.9
climb_tof_to_wheel_distance:149.11
['left_front_cliff', 'right_front_cliff']
RUN CMD: adb shell ls /mnt/misc/single_dtof.flag
start check crossing distance
DEPTH: 20.0
RUN CMD: adb shell avacmd clb '{\"type\":\"system\",\"cmd\":\"print_roll_pitch\"}'
ROLL-PITCH: {"roll":322.0,"pitch":1520.0}


get_roll_pitch return ROLL: 322.0 , PITCH: 1520.0
left_front_cliff,right_front_cliff ERROR: the robot pose is not valid, PLEASE make sure the robot is stand in good way, pose:[322.0vs100] [1520.0vs[1000, 1500]]


！！！！！！！！易医crossing！！！！！！！！
VERSION:1.5.28
RUN CMD: adb shell ls /data/log/dreame_factory_run_parameters.yaml
RUN CMD: adb shell cat /data/log/dreame_factory_run_parameters.yaml
SUCCESS: /data/log/dreame_factory_run_parameters.yaml found, load params
RUN CMD: adb shell ls /data/log/structural_parameters.yaml
ERROR: /data/log/structural_parameters.yaml not found!
global_xtalk_pre_limit:30000
climb_up_pitch_limit:[1000, 1500]
climb_tof_to_ground_distance:23.53
climb_rear_wheel_to_ground_distance:8.5
climb_rear_wheel_to_wheel_distance:163.9
climb_tof_to_wheel_distance:149.11
['left_front_cliff', 'right_front_cliff']
RUN CMD: adb shell ls /mnt/misc/single_dtof.flag
start check crossing distance
DEPTH: 20.0
RUN CMD: adb shell avacmd clb '{\"type\":\"system\",\"cmd\":\"print_roll_pitch\"}'
ROLL-PITCH: {"roll":285.0,"pitch":1485.0}


get_roll_pitch return ROLL: 285.0 , PITCH: 1485.0
left_front_cliff,right_front_cliff ERROR: the robot pose is not valid, PLEASE make sure the robot is stand in good way, pose:[285.0vs100] [1485.0vs[1000, 1500]]


！！！！！！！！易医ground_offset！！！！！！！！
VERSION:1.5.28
RUN CMD: adb shell ls /data/log/dreame_factory_run_parameters.yaml
RUN CMD: adb shell cat /data/log/dreame_factory_run_parameters.yaml
SUCCESS: /data/log/dreame_factory_run_parameters.yaml found, load params
RUN CMD: adb shell ls /data/log/structural_parameters.yaml
ERROR: /data/log/structural_parameters.yaml not found!
global_xtalk_pre_limit:30000
climb_up_pitch_limit:[1000, 1500]
climb_tof_to_ground_distance:23.53
climb_rear_wheel_to_ground_distance:8.5
climb_rear_wheel_to_wheel_distance:163.9
climb_tof_to_wheel_distance:149.11
['left_front_cliff', 'right_front_cliff']
RUN CMD: adb shell ls /mnt/misc/single_dtof.flag
start check ground_offset
RUN CMD: adb shell avacmd clb '{\"type\":\"system\",\"cmd\":\"print_roll_pitch\"}'
ROLL-PITCH: {"roll":-23.0,"pitch":-4.0}


get_roll_pitch return ROLL: -23.0 , PITCH: -4.0
DEPTH: 20.0
RUN CMD: adb shell avacmd mcubase '{\"type\":\"tof\",\"module\":\"left_front_cliff\",\"cmd\":\"set_range_mode\",\"mode\":170}'
RUN CMD: adb shell avacmd mcubase '{\"type\":\"tof\",\"module\":\"right_front_cliff\",\"cmd\":\"set_range_mode\",\"mode\":170}'
RUN CMD: adb shell avacmd mcubase '{\"type\":\"tof\",\"module\":\"left_front_cliff\",\"cmd\":\"get_distance\"}'
RESULT: {"value":4344,"ret":"ok"}


left_front_cliff low_power VALUE: 4344.0 , DIFF: -0.09000000000000341 mm
RUN CMD: adb shell avacmd mcubase '{\"type\":\"tof\",\"module\":\"right_front_cliff\",\"cmd\":\"get_distance\"}'
RESULT: {"value":4350,"ret":"ok"}


right_front_cliff low_power VALUE: 4350.0 , DIFF: -0.030000000000001137 mm
RUN CMD: adb shell avacmd mcubase '{\"type\":\"tof\",\"module\":\"left_front_cliff\",\"cmd\":\"set_range_mode\",\"mode\":85}'
RUN CMD: adb shell avacmd mcubase '{\"type\":\"tof\",\"module\":\"right_front_cliff\",\"cmd\":\"set_range_mode\",\"mode\":85}'
RUN CMD: adb shell avacmd mcubase '{\"type\":\"tof\",\"module\":\"left_front_cliff\",\"cmd\":\"get_distance\"}'
RESULT: {"value":4336,"ret":"ok"}


left_front_cliff high_power VALUE: 4336.0 , DIFF: -0.1700000000000017 mm
RUN CMD: adb shell avacmd mcubase '{\"type\":\"tof\",\"module\":\"right_front_cliff\",\"cmd\":\"get_distance\"}'
RESULT: {"value":4335,"ret":"ok"}


right_front_cliff high_power VALUE: 4335.0 , DIFF: -0.17999999999999972 mm


！！！！！！！！菜医ground_offset！！！！！！！！
VERSION:1.5.28
RUN CMD: adb shell ls /data/log/dreame_factory_run_parameters.yaml
RUN CMD: adb shell cat /data/log/dreame_factory_run_parameters.yaml
SUCCESS: /data/log/dreame_factory_run_parameters.yaml found, load params
RUN CMD: adb shell ls /data/log/structural_parameters.yaml
ERROR: /data/log/structural_parameters.yaml not found!
global_xtalk_pre_limit:30000
climb_up_pitch_limit:[1000, 1500]
climb_tof_to_ground_distance:23.53
climb_rear_wheel_to_ground_distance:8.5
climb_rear_wheel_to_wheel_distance:163.9
climb_tof_to_wheel_distance:149.11
['left_front_cliff', 'right_front_cliff']
RUN CMD: adb shell ls /mnt/misc/single_dtof.flag
start check ground_offset
RUN CMD: adb shell avacmd clb '{\"type\":\"system\",\"cmd\":\"print_roll_pitch\"}'
ROLL-PITCH: {"roll":-23.0,"pitch":-2.0}


get_roll_pitch return ROLL: -23.0 , PITCH: -2.0
DEPTH: 20.0
RUN CMD: adb shell avacmd mcubase '{\"type\":\"tof\",\"module\":\"left_front_cliff\",\"cmd\":\"set_range_mode\",\"mode\":170}'
RUN CMD: adb shell avacmd mcubase '{\"type\":\"tof\",\"module\":\"right_front_cliff\",\"cmd\":\"set_range_mode\",\"mode\":170}'
RUN CMD: adb shell avacmd mcubase '{\"type\":\"tof\",\"module\":\"left_front_cliff\",\"cmd\":\"get_distance\"}'
RESULT: {"value":4286,"ret":"ok"}


left_front_cliff low_power VALUE: 4286.0 , DIFF: -0.6700000000000017 mm
RUN CMD: adb shell avacmd mcubase '{\"type\":\"tof\",\"module\":\"right_front_cliff\",\"cmd\":\"get_distance\"}'
RESULT: {"value":4375,"ret":"ok"}


right_front_cliff low_power VALUE: 4375.0 , DIFF: 0.21999999999999886 mm
RUN CMD: adb shell avacmd mcubase '{\"type\":\"tof\",\"module\":\"left_front_cliff\",\"cmd\":\"set_range_mode\",\"mode\":85}'
RUN CMD: adb shell avacmd mcubase '{\"type\":\"tof\",\"module\":\"right_front_cliff\",\"cmd\":\"set_range_mode\",\"mode\":85}'
RUN CMD: adb shell avacmd mcubase '{\"type\":\"tof\",\"module\":\"left_front_cliff\",\"cmd\":\"get_distance\"}'
RESULT: {"value":4441,"ret":"ok"}


left_front_cliff high_power VALUE: 4441.0 , DIFF: 0.8800000000000026 mm
RUN CMD: adb shell avacmd mcubase '{\"type\":\"tof\",\"module\":\"right_front_cliff\",\"cmd\":\"get_distance\"}'
RESULT: {"value":4397,"ret":"ok"}


right_front_cliff high_power VALUE: 4397.0 , DIFF: 0.4399999999999977 mm