增加到期时间全部参数zr_reg_date

ArduCopter/Parameters.cpp

@@ -144,6 +144,7 @@ const AP_Param::Info Copter::var_info[] = {
     // @User: Standard
     GSCALAR(zr_tk_delay,  "ZR_TK_DELAY", ZR_TK_DELAY),
     GSCALAR(zr_use_rc,  "ZR_USE_RC", 1),
+    GSCALAR(zr_reg_date,  "ZR_REG_DATE", 1),
 
     // @Param: ZR_RTL_DELAY
     // @DisplayName: rtl  Altitude  when at final decent alt
@@ -1716,6 +1717,15 @@ const char* Copter::get_sysid_board_id(void)
             break;
 
     }
+    
+        int32_t deadline = 0;
+        get_deadline_params(deadline);
+        gcs().send_text(MAV_SEVERITY_INFO, "deadline:%ld",deadline);
+        if(g.zr_reg_date != deadline){
+            gcs().send_text(MAV_SEVERITY_INFO, "reload deadline:%ld, ->, %ld",deadline,g.zr_reg_date);
+            g.zr_reg_date.set_and_save_ifchanged(deadline);
+        }
+
     return buf;
 }
 
@@ -1759,7 +1769,6 @@ void Copter::get_deadline_params(int32_t &deadline)
         deadline = 20000000 + ((out_data_temp[0] - 0x30) * 10 + (out_data_temp[1] - 0x30)) * 10000 +
                    ((out_data_temp[2] - 0x30) * 10 + (out_data_temp[3] - 0x30)) * 100 +
                    ((out_data_temp[4] - 0x30) * 10 + (out_data_temp[5] - 0x30));
-               //    gcs().send_text(MAV_SEVERITY_INFO, "deadline:%ld",deadline);
     }
     else
     {

ArduCopter/Parameters.h

@@ -394,6 +394,7 @@ public:
         k_param_zr_rtl_delay,
         k_param_zr_use_rc,
         k_param_hardware_flag,
+        k_param_zr_reg_date,
         // the k_param_* space is 9-bits in size
         // 511: reserved
     };
@@ -508,6 +509,7 @@ public:
     AP_Int16                 zr_tk_delay;
     AP_Int16                 zr_rtl_delay;
     AP_Int8                  zr_use_rc;
+    AP_Int32                 zr_reg_date;
     
     // Note: keep initializers here in the same order as they are declared
     // above.