4轴测试5天没问题

ArduCopter/UserCode.cpp

@@ -40,55 +40,6 @@ void Copter::userhook_50Hz()
 void Copter::userhook_MediumLoop()
 {
     // put your 10Hz code here
-#if CAM_DEBUG
-   static uint64_t prt_cnt;
-   
-    uint16_t rc7_in = RC_Channels::rc_channel(CH_7)->get_radio_in();
-    switch (in_debug_mode)
-    {
-    case 0:
-        if(rc7_in > 1600){
-            in_debug_mode = 1;
-        }
-        break;
-    case 1:
-        if(rc7_in < 1600){
-            in_debug_mode = 2;
-        }
-        break;
-    case 2:
-        if(rc7_in > 1600){
-            in_debug_mode = 3;
-        }
-        break;
-    case 3:
-        if(rc7_in < 1600){
-            in_debug_mode = 4;
-        }
-        break;
-    case 4:
-        if(rc7_in > 1600){
-            in_debug_mode = 0;
-        }
-        break;
-    
-    default:
-        break;
-    }
-
-    if(in_debug_mode == 4 || control_mode==Mode::Number::SPORT){
-        prt_cnt++;
-        if(!motors->armed()){
-            arming.arm(AP_Arming::Method::SCRIPTING);
-            gcs().send_text(MAV_SEVERITY_INFO,"NOTICE: debug mode arm!");
-        }
-        gcs().send_text(MAV_SEVERITY_INFO,"NOTICE: cnt:%lld",prt_cnt);
-        camera.take_picture();
-    }else{
-
-        prt_cnt = 0;
-    }
-#endif
 }
 #endif
 
@@ -107,20 +58,9 @@ void Copter::userhook_SuperSlowLoop()
     // put your 1Hz code here
     zr_SuperSlowLoop();
 #if CAM_DEBUG 
-    // static uint64_t prt_cnt;
-
-    // if(in_debug_mode == 2 || control_mode==Mode::Number::ACRO){
-    //     prt_cnt++;
-    //     if(!motors->armed()){
-    //         arming.arm(AP_Arming::Method::SCRIPTING);
-    //         gcs().send_text(MAV_SEVERITY_INFO,"NOTICE: debug mode arm!");
-    //     }
-    //     gcs().send_text(MAV_SEVERITY_INFO,"NOTICE: cnt:%lld",prt_cnt);
-    //     camera.take_picture();
-    // }else{
-
-    //     prt_cnt = 0;
-    // }
+    if(in_debug_mode == 2 || control_mode==Mode::Number::ACRO){            
+        camera.take_picture();
+    }
 #endif
 
 }
@@ -146,15 +86,15 @@ void Copter::userhook_auxSwitch1(uint8_t ch_flag)
         case 2: {
             // relay.on(2);
             gcs().send_text(MAV_SEVERITY_INFO,"NOTICE: debug mode 2!");
-            in_debug_mode = 4;
-            break;
-        }
-        case 1: {
-            // relay.on(2);
-            gcs().send_text(MAV_SEVERITY_INFO,"NOTICE: debug mode 1!");
-            in_debug_mode = 1;
+            in_debug_mode = 2;
             break;
         }
+        // case 1: {
+        //     // relay.on(2);
+        //     gcs().send_text(MAV_SEVERITY_INFO,"NOTICE: debug mode 1!");
+        //     in_debug_mode = 1;
+        //     break;
+        // }
         case 0: {
             // relay.off(2);
             gcs().send_text(MAV_SEVERITY_INFO,"NOTICE: debug mode off!");

ArduCopter/mode_auto.cpp

@@ -448,6 +448,7 @@ bool ModeAuto::start_command(const AP_Mission::Mission_Command& cmd)
         break;
 
     case MAV_CMD_NAV_LOITER_TURNS:              //18 Loiter N Times
+        do_roi(cmd);
         do_circle(cmd);
         break;
 

ArduCopter/version.h

@@ -6,7 +6,7 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ZRUAV v4.0.8-RC1"  //"ArduCopter V4.0.0"
+#define THISFIRMWARE "ZRUAV v4.0.8-RC3"  //"ArduCopter V4.0.0"
 
 // the following line is parsed by the autotest scripts
 #define FIRMWARE_VERSION 4,0,8,FIRMWARE_VERSION_TYPE_OFFICIAL

ArduCopter/zr_flight.cpp

@@ -75,14 +75,13 @@ void Copter::zr_SuperSlowLoop(){
             camera.create_new_folder();
         }
         relay.on(3);
-        camera.set_in_arm_mode(true);
+        // camera.set_in_arm_mode(true);
 
     }else{
         relay.off(3);
-        camera.set_in_arm_mode(false);
+        // camera.set_in_arm_mode(false);
         // rc().set_enable_ch();
-        updownStatus =UpDown_TakeOffStart;
-        
+        updownStatus =UpDown_TakeOffStart;        
     }
     if(before_fly){
         uint8_t cnt,cacl_volt_pst;

libraries/AP_Camera/AP_Camera.cpp

@@ -403,25 +403,7 @@ void AP_Camera::setup_feedback_callback(void)
         _timer_installed = true;
     }
 }
-void AP_Camera::set_in_arm_mode(bool state)
-{
-    in_arm_mode = state;
-}
-bool AP_Camera::need_use_uavcan()
-{
-    if(_trigger_type == AP_CAMERA_TRIGGER_TYPE_UAVCAN){
-        return true;
-    }
-    else{
-        if (!in_arm_mode){
-            return true;
-        }else{
-            return false;
-        }
-            
-    }
-    return false;
-}
+
 // log_picture - log picture taken and send feedback to GCS
 void AP_Camera::log_picture()
 {

libraries/AP_Camera/AP_Camera.h

@@ -130,8 +130,6 @@ public:
    struct Camera_State  &get_camera_state(){
        return camera_state;
    }
-   bool  need_use_uavcan();
-   void set_in_arm_mode(bool state);
 private:
 
     static AP_Camera *_singleton;
@@ -196,7 +194,6 @@ private:
     char sver[12]; //software version
 
     void send_can_msg(void);
-    bool in_arm_mode;
 };
 namespace AP {
 AP_Camera *camera();

libraries/AP_UAVCAN/AP_UAVCAN.cpp

@@ -924,8 +924,6 @@ void AP_UAVCAN::handle_zr_camera_status(AP_UAVCAN *ap_uavcan, uint8_t node_id, c
     {
         return;
     }
-    if(!AP::camera()->need_use_uavcan())
-        return;
     AP_Camera::Camera_State   &interim_state  = AP::camera()->get_camera_state();
     interim_state.mode = cb.msg->mode;
     interim_state.id = cb.msg->id;
@@ -951,8 +949,6 @@ void AP_UAVCAN::handle_zr_camera_version(AP_UAVCAN *ap_uavcan, uint8_t node_id,
     {
         return;
     }
-    if(!AP::camera()->need_use_uavcan())
-        return;
         
     char sn[15];
     char ver[12];