From 18df2c6d2c796bac70f94ca78e61e1bfa325358f Mon Sep 17 00:00:00 2001
From: "Brown.Z" <zbr3550@sina.com>
Date: Tue, 9 Aug 2022 22:44:12 +0800
Subject: [PATCH] =?UTF-8?q?ArduCopter:=E5=A2=9E=E5=8A=A0zr=5Fapp=E6=96=87?=
 =?UTF-8?q?=E4=BB=B6=EF=BC=8C=E5=91=A8=E6=9C=9F=E5=BE=AA=E7=8E=AF=E5=87=BD?=
 =?UTF-8?q?=E6=95=B0=EF=BC=8C=E5=9C=A8UserCode=E4=B8=AD=E8=B0=83=E7=94=A8?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 ArduCopter/Copter.h     |  5 +++++
 ArduCopter/UserCode.cpp |  3 +++
 ArduCopter/zr_app.cpp   | 16 ++++++++++++++++
 3 files changed, 24 insertions(+)
 create mode 100644 ArduCopter/zr_app.cpp

diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index d88e707bf2..03626f3a82 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -1005,6 +1005,11 @@ private:
     AC_ZR_App zr_app;
 public:
     void failsafe_check();      // failsafe.cpp
+    
+    void zr_app_50hz();
+    void zr_app_10hz();
+    void zr_app_1hz();
+
 };
 
 extern Copter copter;
diff --git a/ArduCopter/UserCode.cpp b/ArduCopter/UserCode.cpp
index 1fc9824fdc..80d9b5c5c8 100644
--- a/ArduCopter/UserCode.cpp
+++ b/ArduCopter/UserCode.cpp
@@ -19,6 +19,7 @@ void Copter::userhook_FastLoop()
 void Copter::userhook_50Hz()
 {
     // put your 50Hz code here
+    zr_app_50hz();
 }
 #endif
 
@@ -26,6 +27,7 @@ void Copter::userhook_50Hz()
 void Copter::userhook_MediumLoop()
 {
     // put your 10Hz code here
+    zr_app_10hz();
 }
 #endif
 
@@ -40,6 +42,7 @@ void Copter::userhook_SlowLoop()
 void Copter::userhook_SuperSlowLoop()
 {
     // put your 1Hz code here
+    zr_app_1hz();
 }
 #endif
 
diff --git a/ArduCopter/zr_app.cpp b/ArduCopter/zr_app.cpp
new file mode 100644
index 0000000000..f10792f13e
--- /dev/null
+++ b/ArduCopter/zr_app.cpp
@@ -0,0 +1,16 @@
+#include "Copter.h"
+
+
+void Copter::zr_app_1hz()
+{
+
+}
+
+void Copter::zr_app_10hz()
+{
+
+
+}
+void Copter::zr_app_50hz(){
+
+}
\ No newline at end of file