update power estimation and upload 2 models of yolo

main.py

@@ -30,6 +30,7 @@ from ota_manager import ota_manager
 from hardware import hardware_manager
 from camera_manager import camera_manager
 from shoot_manager import process_shot, preload_triangle_calib
+from target_roi_yolo import preload_yolo_detector
 
 
 def laser_calibration_worker():
@@ -148,6 +149,26 @@ def cmd_str():
     except Exception:
         pass
 
+    # 2.7 预加载 YOLO（靶环 ROI + 黑三角）；dual_buff=False 时无需 warmup 消除一帧延迟
+    try:
+        _preload_yolo = bool(getattr(config, "TRIANGLE_YOLO_PRELOAD_ON_BOOT", True))
+        _loc_black = str(
+            getattr(config, "TRIANGLE_BLACK_TRIANGLE_LOCATE_MODE", "yolo")
+        ).lower().strip()
+        if _loc_black not in ("yolo", "traditional"):
+            _loc_black = "yolo"
+        _need_black_preload = (
+            bool(getattr(config, "TRIANGLE_BLACK_YOLO_ENABLE", False))
+            and _loc_black == "yolo"
+            and bool(getattr(config, "TRIANGLE_BLACK_YOLO_PRELOAD_ON_BOOT", True))
+        )
+        _preload_yolo = _preload_yolo or _need_black_preload
+        if _preload_yolo:
+            preload_yolo_detector(logger)
+    except Exception as e:
+        if logger:
+            logger.warning(f"[YOLO-ROI] 启动预加载异常（不影响后续射箭）: {e}")
+
     # 3. 启动时检查：是否需要恢复备份
     pending_path = f"{config.APP_DIR}/ota_pending.json"
     if os.path.exists(pending_path):