Update mission flow and inspection log scrolling

agv_app/utils/mission_executor.py

@@ -414,6 +414,14 @@ class MissionExecutorV3:
                     model_name = self._lookup_model(qr_value)
                     self._log(f"  🏷️ 机型: {model_name}")
 
+                    if qr_value and opt_arm_init and has_arm_pose and opt_agv_move and not self._stop.is_set():
+                        self._log("  🦾 扫码完成，恢复机械臂初始姿态")
+                        try:
+                            self.arm_client.set_angles(arm_initial_pose, speed=self.arm_speed)
+                            self._wait_arm_ready(arm_initial_pose)
+                        except Exception as e:
+                            self._log(f"  ⚠️ 机械臂复位失败: {e}")
+
                     if opt_front_photo and not self._stop.is_set():
                         model = self._find_model(models, model_name)
                         if model:
@@ -642,7 +650,7 @@ class MissionExecutorV3:
             self._log("↪️ 调用设置页同款接口返回原点")
             resp = requests.post(
                 "http://127.0.0.1:5000/api/navigate/to",
-                json={"x": 0, "y": 0, "yaw": 0},
+                json={"x": 0, "y": 0, "yaw": 0, "restore_arm": False},
                 timeout=8,
             )
             data = resp.json() if resp.content else {}
@@ -676,7 +684,7 @@ class MissionExecutorV3:
         return False
     def _scan_qr_with_poses(self, qr_configs: list, machine_row: int = 0) -> Optional[str]:
         """用二维码配置中的姿态依次尝试，逐一调整姿态+等2秒+扫码，全部失败才弹框
-        
+
         machine_row: 机器所在行，奇数行(1,3,5)时关节角度需取反
         """
         if not qr_configs: