From 5eda224c2b40539fdfd176122c55cfd670e3c277 Mon Sep 17 00:00:00 2001
From: zbr <zbr3550@sina.com>
Date: Thu, 11 Mar 2021 15:45:14 +0800
Subject: [PATCH] boat alarm change

---
 APMrover2/version.h               |  2 +-
 libraries/AP_Notify/ToneAlarm.cpp | 10 +++++++---
 2 files changed, 8 insertions(+), 4 deletions(-)

diff --git a/APMrover2/version.h b/APMrover2/version.h
index 8f90115b24..319b808de5 100644
--- a/APMrover2/version.h
+++ b/APMrover2/version.h
@@ -6,7 +6,7 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ArduRover V4.0.0-dev"
+#define THISFIRMWARE "ZR_Rover V4.0.0"
 
 // the following line is parsed by the autotest scripts
 #define FIRMWARE_VERSION 4,0,0,FIRMWARE_VERSION_TYPE_DEV
diff --git a/libraries/AP_Notify/ToneAlarm.cpp b/libraries/AP_Notify/ToneAlarm.cpp
index ef8b998388..2e2c89e2df 100644
--- a/libraries/AP_Notify/ToneAlarm.cpp
+++ b/libraries/AP_Notify/ToneAlarm.cpp
@@ -47,9 +47,11 @@ const AP_ToneAlarm::Tone AP_ToneAlarm::_tones[] {
 #define AP_NOTIFY_TONE_LOUD_POS_FEEDBACK 5
     { "MFT100L4>A#B#", false },
 #define AP_NOTIFY_TONE_LOUD_READY_OR_FINISHED 6
-    { "MFT100L4>G#6A#6B#4", false },
+    // { "MFT100L4>G#6A#6B#4", false },
+    { "MFT200L4<G#6A#6B#6O4C#6D#4O3G#6A#6B#6O4C#6D#1", false }, // modify by @Brown 
 #define AP_NOTIFY_TONE_QUIET_READY_OR_FINISHED 7
-    { "MFT200L4<G#6A#6B#4", false },
+    // { "MFT200L4<G#6A#6B#4", false },
+    { "MFT200L4<G#6A#6B#6O4C#6D#4O3G#6A#6B#6O4C#6D#1", false },
 #define AP_NOTIFY_TONE_LOUD_ATTENTION_NEEDED 8
     { "MFT100L4>A#A#A#A#", false },
 #define AP_NOTIFY_TONE_QUIET_ARMING_WARNING 9
@@ -93,11 +95,13 @@ const AP_ToneAlarm::Tone AP_ToneAlarm::_tones[] {
 #define AP_NOTIFY_TONE_QUIET_NOT_READY_OR_NOT_FINISHED 28
     { "MFT200L4<B#4A#6G#6", false },
 #define AP_NOTIFY_TONE_STARTUP 29
-    { "MFT240L8O4aO5dcO4aO5dcO4aO5dcL16dcdcdcdc", false },
+    // { "MFT240L8O4aO5dcO4aO5dcO4aO5dcL16dcdcdcdc", false },
+    { "MFT240L8 O4L4fdL2a", false }, // modify by @Brown 
 #define AP_NOTIFY_TONE_NO_SDCARD 30
     { "MNBGG", false },
 };
 
+
 bool AP_ToneAlarm::init()
 {
     if (pNotify->buzzer_enabled() == false) {