自检调整

ArduCopter/AP_Arming.cpp

@@ -961,7 +961,7 @@ bool AP_Arming_Copter::mandatory_deadline_checks(bool display_failure)
     if (!copter.zr_app.check_deadline(date))
     {
         // check_failed(true, "无法解锁，授权于 %u-%u-%u 到期!", date / 10000, (date % 10000) / 100, date % 100);
-        check_failed(display_failure, "Authorization expires:%lu-%lu-%lu", date / 10000, (date % 10000) / 100, date % 100);
+        check_failed(true, "Authorization expires:%lu-%lu-%lu", date / 10000, (date % 10000) / 100, date % 100);
         return false;
     }else{
         return true;

ArduCopter/zr_app.cpp

@@ -99,7 +99,11 @@ void Copter::zr_app_50hz(){
                 case AC_ZR_Serial_API::ZR_Msg_Type::MSG_CONTROL_TKOFF:
                 {
                     if(!motors->armed()){
-                        arming.arm(AP_Arming::Method::SCRIPTING);
+                        if(arming.arm(AP_Arming::Method::SCRIPTING,false)){
+                            gcs().send_text(MAV_SEVERITY_INFO,"arm by scripting");
+                        }else{
+                            gcs().send_text(MAV_SEVERITY_INFO,"arm faild");
+                        }
                     }
                     if(flightmode->mode_number() != Mode::Number::GUIDED){
                         set_mode(Mode::Number::GUIDED, ModeReason::SCRIPTING);