You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
|
|
|
|
#include "Copter.h"
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
void Copter::zr_app_1hz()
|
|
|
|
|
{
|
|
|
|
|
static bool before_fly = true;
|
|
|
|
|
if(motors->armed()){
|
|
|
|
|
if(before_fly){
|
|
|
|
|
before_fly = false;
|
|
|
|
|
}
|
|
|
|
|
relay.on(3); // 电子开关，保持通路
|
|
|
|
|
// camera.set_in_arm_mode(true);
|
|
|
|
|
}else{
|
|
|
|
|
relay.off(3);
|
|
|
|
|
if(before_fly){
|
|
|
|
|
uint8_t bat_cnt = zr_app.get_battery_capacity(1,battery.voltage());
|
|
|
|
|
battery.reset_remaining(0,(float)bat_cnt );
|
|
|
|
|
// gcs().send_text(MAV_SEVERITY_INFO, "bat:%.2f,pst%d,%.2f",battery.voltage(),bat_cnt,(float)bat_cnt);
|
|
|
|
|
}
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
}
|
|
|
|
|
|
|
|
|
|
void Copter::zr_app_10hz()
|
|
|
|
|
{
|
|
|
|
|
|
|
|
|
|
|
|
|
|
|
}
|
|
|
|
|
void Copter::zr_app_50hz(){
|
|
|
|
|
|
|
|
|
|
}
|
