fast imu

main_odometry.py

@@ -117,7 +117,7 @@ def run_live(port, baud, save_csv=None):
                              'pos_x', 'pos_y', 'pos_z'])
 
     print(f"打开串口 {port} @ {baud} baud ...")
-    ser = serial.Serial(port, baud, timeout=1)
+    ser = serial.Serial(port, baud, timeout=0.01)  # 短超时, 避免 read(1) 阻塞
 
     # 静止标定
     accel_bias, gyro_bias = calibrate(ser)
@@ -135,6 +135,7 @@ def run_live(port, baud, save_csv=None):
         while plt.fignum_exists(viewer.fig.number):
             frame = read_frame(ser)
             if frame is None:
+                time.sleep(0.001)  # 无数据时短暂休眠, 避免忙等
                 continue
 
             ts = frame['timestamp_ms']