增加7s电量表，增加MAVFTP堆栈大小

ArduCopter/zr_flight.cpp

@@ -68,6 +68,20 @@ void Copter::zr_SuperSlowLoop(){
         19.88,19.73,19.53,19.34,19.19,19.00,18.80,18.51,18.00,17.40,
         16.80
     };
+    static float batt_mah_teb_7s[] =
+    {
+        29.30,29.13,28.97,28.86,28.77,28.71,28.67,28.64,28.61,28.59,
+        28.56,28.53,28.50,28.46,28.43,28.38,28.33,28.28,28.21,28.16,
+        28.10,28.03,27.94,27.87,27.80,27.75,27.66,27.59,27.52,27.46,
+        27.38,27.32,27.26,27.19,27.13,27.07,27.00,26.93,26.85,26.79,
+        26.74,26.67,26.61,26.54,26.47,26.4,26.35,26.28,26.21,26.16,
+        26.1,26.05,25.98,25.91,25.85,25.79,25.74,25.69,25.63,25.58,
+        25.54,25.5,25.45,25.41,25.36,25.32,25.27,25.23,25.18,25.13,
+        25.08,25.03,24.97,24.93,24.86,24.8,24.74,24.67,24.6,24.52,
+        24.46,24.39,24.3,24.25,24.22,24.18,24.1,24.02,23.94,23.81,
+        23.65,23.52,23.32,23.19,22.95,22.74,22.52,22.28,22.04,21.8,
+        21.6,
+    };
     
     if(motors->armed()){
          if(before_fly){
@@ -86,10 +100,30 @@ void Copter::zr_SuperSlowLoop(){
     if(before_fly){
         uint8_t cnt,cacl_volt_pst;
         float delt_volt;
-        for(cnt = 0; cnt<102; cnt++ ){
-            delt_volt = batt_mah_teb[cnt] - battery.voltage();
-            // delt_volt = batt_mah_teb[cnt] - test_volt;
-            if(delt_volt <= 0)
+        cnt = 0;
+        switch (battery.get_batt_type(1))
+        {
+            case 0:
+                /* code */
+                break;
+            case 1:
+                for(cnt = 0; cnt<102; cnt++ ){
+                    delt_volt = batt_mah_teb[cnt] - battery.voltage();
+                    // delt_volt = batt_mah_teb[cnt] - test_volt;
+                    if(delt_volt <= 0)
+                        break;
+                }
+                break;
+            case 2:
+                for(cnt = 0; cnt<102; cnt++ ){
+                    delt_volt = batt_mah_teb_7s[cnt] - battery.voltage();
+                    // delt_volt = batt_mah_teb[cnt] - test_volt;
+                    if(delt_volt <= 0)
+                        break;
+                }
+                break;
+            
+            default:
                 break;
         }
         cacl_volt_pst = 100 - cnt;

copy.sh

@@ -0,0 +1,2 @@
+sudo cp ./build/Pixhawk4/bin/arducopter.apj  /mnt/f/_01-work/100\=data/固件/zr-v4/wsl/zr-v4.0.8-rc2.px4
+

just_build.sh

@@ -0,0 +1,2 @@
+./waf configure --board Pixhawk4
+./waf  copter

libraries/AP_BattMonitor/AP_BattMonitor.cpp

@@ -499,6 +499,14 @@ void AP_BattMonitor::request_history(void)
     }
 }
 
+uint8_t AP_BattMonitor::get_batt_type(uint8_t i)
+{
+
+    if (drivers[i] != nullptr && _params[i].type() == AP_BattMonitor_Params::BattMonitor_TYPE_ANALOG_VOLTAGE_AND_CURRENT) {
+        return _params[i].batt_type();        
+    }
+    return 0;
+}
 
 /*
   reset battery remaining percentage for batteries that integrate to

libraries/AP_BattMonitor/AP_BattMonitor.h

@@ -166,7 +166,7 @@ public:
 
     void  request_info(void) ;        //battgo
     void  request_history(void) ;  //battgo
-
+    uint8_t  get_batt_type(uint8_t i);
 protected:
 
     /// parameters

libraries/AP_BattMonitor/AP_BattMonitor_Params.cpp

@@ -171,6 +171,8 @@ const AP_Param::GroupInfo AP_BattMonitor_Params::var_info[] = {
     AP_GROUPINFO("DROPOUT_V", 20, AP_BattMonitor_Params, _arming_dropout_voltage, 0),
 
     AP_GROUPINFO("CELL_TOTAL", 21, AP_BattMonitor_Params, _batt_cells_amount, 0),
+  
+    AP_GROUPINFO("BAT_TYPE", 22, AP_BattMonitor_Params, _batt_type, 1),
     
     AP_GROUPEND
 

libraries/AP_BattMonitor/AP_BattMonitor_Params.h

@@ -36,6 +36,7 @@ public:
 
     BattMonitor_Type type(void) const { return (enum BattMonitor_Type)_type.get(); }
     BattMonitor_LowVoltage_Source failsafe_voltage_source(void) { return (enum BattMonitor_LowVoltage_Source)_failsafe_voltage_source.get(); }
+    int8_t batt_type( ) const { return _batt_type;} ;
 
     AP_Int8  _type;                     /// 0=disabled, 3=voltage only, 4=voltage and current
     AP_Int8  _volt_pin;                 /// board pin used to measure battery voltage
@@ -58,4 +59,5 @@ public:
     AP_Float _arming_minimum_voltage;   /// voltage level required to arm
    AP_Float _arming_dropout_voltage;   /// voltage level required to arm
    AP_Int8 _batt_cells_amount;   /// voltage level required to arm
+   AP_Int8 _batt_type;   /// voltage level required to arm
 };

libraries/AP_HAL/AP_HAL_Boards.h

@@ -162,7 +162,7 @@
 #endif
 
 #ifndef HAL_WITH_UAVCAN
-#define HAL_WITH_UAVCAN 1
+#define HAL_WITH_UAVCAN 0
 #endif
 
 #ifndef HAL_RCINPUT_WITH_AP_RADIO

libraries/GCS_MAVLink/GCS_FTP.cpp

@@ -42,7 +42,7 @@ bool GCS_MAVLINK::ftp_init(void) {
     }
 
     if (!hal.scheduler->thread_create(FUNCTOR_BIND_MEMBER(&GCS_MAVLINK::ftp_worker, void),
-                                      "FTP", 1024, AP_HAL::Scheduler::PRIORITY_IO, 0)) {
+                                      "FTP", 3072, AP_HAL::Scheduler::PRIORITY_IO, 0)) {
         goto failed;
     }
 

sitl.sh

@@ -0,0 +1 @@
+./Tools/autotest/sim_vehicle.py  -j4 -L CYDS --console --map -v ArduCopter