增加AC_ZR_App，增加一些参数

ArduCopter/Copter.h

@@ -70,6 +70,8 @@
 #include <AP_ADSB/AP_ADSB.h>                // ADS-B RF based collision avoidance module library
 #include <AP_Proximity/AP_Proximity.h>      // ArduPilot proximity sensor library
 
+#include <AC_ZR_APP/AC_ZR_App.h>
+
 // Configuration
 #include "defines.h"
 #include "config.h"
@@ -993,6 +995,7 @@ private:
     Mode *mode_from_mode_num(const Mode::Number mode);
     void exit_mode(Mode *&old_flightmode, Mode *&new_flightmode);
 
+    AC_ZR_App zr_app;
 public:
     void failsafe_check();      // failsafe.cpp
 };

ArduCopter/Parameters.cpp

@@ -734,6 +734,8 @@ const AP_Param::Info Copter::var_info[] = {
     // @Path: Parameters.cpp
     GOBJECT(g2, "",  ParametersG2),
 
+    GOBJECT(zr_app, "ZR",  AC_ZR_App),
+
     // @Group:
     // @Path: ../libraries/AP_Vehicle/AP_Vehicle.cpp
     { AP_PARAM_GROUP, "", Parameters::k_param_vehicle, (const void *)&copter, {group_info : AP_Vehicle::var_info} },

ArduCopter/Parameters.h

@@ -376,6 +376,7 @@ public:
         // 254,255: reserved
 
         k_param_vehicle = 257, // vehicle common block of parameters
+        k_param_zr_app = 258, // 253 - Logging Group
 
         // the k_param_* space is 9-bits in size
         // 511: reserved

ArduCopter/wscript

@@ -31,6 +31,7 @@ def build(bld):
             'AP_OSD',
             'AC_AutoTune',
             'AP_KDECAN',
+            'AC_ZR_APP',
         ],
     )
 

just_build.sh

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

libraries/AC_ZR_APP/AC_ZR_App.cpp

@@ -0,0 +1,51 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+#include "AC_ZR_App.h"
+
+
+AC_ZR_App *AC_ZR_App::_singleton;
+
+// table of user settable parameters
+const AP_Param::GroupInfo AC_ZR_App::var_info[] = {
+    // @Param: _TYPE
+    // @DisplayName: 1st GPS type
+    // @Description: GPS type of 1st GPS
+    // @Values: 0:None,1:AUTO,2:uBlox,3:MTK,4:MTK19,5:NMEA,6:SiRF,7:HIL,8:SwiftNav,9:UAVCAN,10:SBF,11:GSOF,13:ERB,14:MAV,15:NOVA,16:HemisphereNMEA,17:uBlox-MovingBaseline-Base,18:uBlox-MovingBaseline-Rover,19:MSP,20:AllyStar,21:ExternalAHRS
+    // @RebootRequired: True
+    // @User: Advanced
+    AP_GROUPINFO("_TYPE",           0,  AC_ZR_App,  _type,          1),
+
+    AP_GROUPINFO("_ID_TYPE",        1,  AC_ZR_App,  sysid_type,     0 ),
+    AP_GROUPINFO("_ID_BOARD_ID",    2,  AC_ZR_App,  sysid_board_id, 100),
+    AP_GROUPINFO("_ID_DL1",         3,  AC_ZR_App,  sysid_dl1, 0x8175),
+    AP_GROUPINFO("_ID_DL2",         4,  AC_ZR_App,  sysid_dl2, 0x6fda),
+    AP_GROUPINFO("_ID_DL3",         5,  AC_ZR_App,  sysid_dl3, 0xf38f),
+    AP_GROUPINFO("_ID_DL4",         6,  AC_ZR_App,  sysid_dl4, 0xbf48),
+
+
+    AP_GROUPEND
+};
+
+// constructor
+AC_ZR_App::AC_ZR_App()
+{
+
+    AP_Param::setup_object_defaults(this, var_info);
+
+    if (_singleton != nullptr) {
+        AP_HAL::panic("AC_ZR_App must be singleton");
+    }
+    _singleton = this;
+}

libraries/AC_ZR_APP/AC_ZR_App.h

@@ -0,0 +1,48 @@
+/*
+   This program is free software: you can redistribute it and/or modify
+   it under the terms of the GNU General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   (at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU General Public License for more details.
+
+   You should have received a copy of the GNU General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+#pragma once
+
+#include <AP_HAL/AP_HAL.h>
+#include <AP_Param/AP_Param.h>
+
+class AC_ZR_App
+{
+public:
+    AC_ZR_App();
+    /* Do not allow copies */
+    AC_ZR_App(const AC_ZR_App &other) = delete;
+    AC_ZR_App &operator=(const AC_ZR_App&) = delete;
+
+    static AC_ZR_App *get_singleton() {
+        return _singleton;
+    }
+
+    static const struct AP_Param::GroupInfo var_info[];
+
+protected:
+
+    AP_Int8         _type;
+    AP_Int8         sysid_type; // modify by @Brown
+    AP_Int32        sysid_board_id;
+    AP_Int32        sysid_dl1;
+    AP_Int32        sysid_dl2;
+    AP_Int32        sysid_dl3;
+    AP_Int32        sysid_dl4;
+
+private:
+    static AC_ZR_App *_singleton;
+
+    void get_deadline_params(int32_t &deadline);
+};