仿线模式禁用遥控偏航控制

ArduCopter/mode_auto.cpp

@@ -888,7 +888,7 @@ void ModeAuto::wp_run()
     }
     // process pilot's yaw input
     float target_yaw_rate = 0;
-    if (!copter.failsafe.radio) {
+    if (!copter.failsafe.radio && copter.zr_serial_api.data_trans_init) {   //copter.zr_serial_api.data_trans_init 仿线模式启动，禁用遥控控制
         // get pilot's desired yaw rate
         target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
         if (!is_zero(target_yaw_rate)) {
@@ -935,7 +935,7 @@ void ModeAuto::spline_run()
 
     // process pilot's yaw input
     float target_yaw_rate = 0;
-    if (!copter.failsafe.radio) {
+    if (!copter.failsafe.radio && copter.zr_serial_api.data_trans_init) {   //copter.zr_serial_api.data_trans_init 仿线模式启动，禁用遥控控制
         // get pilot's desired yaw rat
         target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
         if (!is_zero(target_yaw_rate)) {

ArduCopter/mode_guided.cpp

@@ -386,7 +386,7 @@ void Mode::auto_takeoff_run()
 
     // process pilot's yaw input
     float target_yaw_rate = 0;
-    if (!copter.failsafe.radio) {
+    if (!copter.failsafe.radio && copter.zr_serial_api.data_trans_init) {   //copter.zr_serial_api.data_trans_init 仿线模式启动，禁用遥控控制
         // get pilot's desired yaw rate
         target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
     }
@@ -417,7 +417,7 @@ void ModeGuided::pos_control_run()
 {
     // process pilot's yaw input
     float target_yaw_rate = 0;
-    if (!copter.failsafe.radio) {
+    if (!copter.failsafe.radio && copter.zr_serial_api.data_trans_init) {   //copter.zr_serial_api.data_trans_init 仿线模式启动，禁用遥控控制
         // get pilot's desired yaw rate
         target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
         if (!is_zero(target_yaw_rate)) {
@@ -459,7 +459,7 @@ void ModeGuided::vel_control_run()
 {
     // process pilot's yaw input
     float target_yaw_rate = 0;
-    if (!copter.failsafe.radio) {
+    if (!copter.failsafe.radio && copter.zr_serial_api.data_trans_init) {   //copter.zr_serial_api.data_trans_init 仿线模式启动，禁用遥控控制
         // get pilot's desired yaw rate
         target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
         if (!is_zero(target_yaw_rate)) {
@@ -512,7 +512,7 @@ void ModeGuided::posvel_control_run()
     // process pilot's yaw input
     float target_yaw_rate = 0;
 
-    if (!copter.failsafe.radio) {
+    if (!copter.failsafe.radio && copter.zr_serial_api.data_trans_init) {   //copter.zr_serial_api.data_trans_init 仿线模式启动，禁用遥控控制
         // get pilot's desired yaw rate
         target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
         if (!is_zero(target_yaw_rate)) {

libraries/AC_ZR_APP/AC_ZR_Serial_API.cpp

@@ -301,14 +301,14 @@ bool AC_ZR_Serial_API::get_control_data(uint8_t mode, ZR_Msg_Type &type,Vector3l
     if(control_data_last_time == last_time){    // 数据没更新，直接退出
         return false;
     }
-    AP::logger().Write("DATR", "TimeUS,Mode,Type,X,Y,Z,Yaw", "QBBB",
-                            AP_HAL::micros64(),
-                            mode,
-                            flight_control_parser.msg.type,
-                            flight_control_parser.msg.x,
-                            flight_control_parser.msg.y,
-                            flight_control_parser.msg.z,
-                            flight_control_parser.msg.yaw);
+    AP::logger().Write("APID", "TimeUS,Mode,Type,X,Y,Z,Yaw", "QBBiiif",
+                            AP_HAL::micros64(), //Q
+                            mode, //B
+                            flight_control_parser.msg.type, //B
+                            flight_control_parser.msg.x,    //i
+                            flight_control_parser.msg.y,    //i
+                            flight_control_parser.msg.z,    //i
+                            flight_control_parser.msg.yaw); //f
 
     last_time = control_data_last_time;
     WITH_SEMAPHORE(sem);