1. fix auto_explore bug, 增加缓冲区-覆盖的圆形更完美

2. add scan_points list，将unvisited scan_points作为下一次scan_all_env的目标
3. optimizae auto_scan_env, 根据四个方位划分无人机最近的探索区域

llm_settings.json

@@ -1,5 +1,5 @@
 {
-  "selected_provider": "Kimi",
+  "selected_provider": "OpenAI",
   "provider_configs": {
     "Ollama": {
       "type": "ollama",
@@ -17,22 +17,21 @@
     },
     "OpenAI": {
       "type": "openai-compatible",
-      "base_url": "https://api.openai.com/v1",
+      "base_url": "https://dashscope.aliyuncs.com/compatible-mode/v1",
       "models_endpoint": "/models",
       "chat_endpoint": "/chat/completions",
       "requires_api_key": true,
-      "api_key": "",
+      "api_key": "sk-2f228b8c30964dba84e888b565add0a8",
       "encoding": "utf-8",
-      "default_model": "gpt-4o-mini",
+      "default_model": "deepseek-v3.2",
       "default_models": [
-        "gpt-4o-mini",
-        "gpt-4o",
-        "gpt-4.1-mini",
-        "gpt-3.5-turbo"
+        "deepseek-v3.2",
+        "qwen-flash",
+        "qwen3-30b-a3b-instruct-2507"
       ],
       "allow_endpoint_edit": true,
       "allow_api_toggle": true,
-      "system_prompt": ""
+      "system_prompt": "You are a very friendly drone control agent. No matter what language I use to give you instructions, please call the tools to perform the task and then reply in Chinese."
     },
     "Kimi": {
       "type": "openai-compatible",