feat: 增加任务段pid参数设置

utils.py

@@ -3,6 +3,7 @@ from enum import Enum
 import numpy as np
 import erniebot
 from simple_pid import PID
+from loguru import logger
 
 # 巡线误差
 lane_error = 0
@@ -313,6 +314,7 @@ class PidWrap:
         self.pid_t.Kp = kp
         self.pid_t.Ki = ki
         self.pid_t.Kd = kd
+        logger.info(f"[PID]# 更新 PID 参数：Kp({kp:.2f}) Ki({ki:.2f}) Kd({kd:.2f})")
     def get(self, val_in):
         return self.pid_t(val_in)