From b38fa39f9c5662f61515a205fbdfc17604895ec6 Mon Sep 17 00:00:00 2001
From: nagezeng <zbr3550@sina.com>
Date: Thu, 12 May 2022 14:51:29 +0800
Subject: [PATCH] =?UTF-8?q?=E6=9B=B4=E6=96=B0=E9=A2=91=E7=8E=87=E8=B0=83?=
 =?UTF-8?q?=E6=95=B4?=
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---
 ArduCopter/UserCode.cpp | 2 +-
 ArduCopter/version.h    | 8 ++++----
 ArduCopter/zr_app.cpp   | 4 ++--
 modules/mavlink         | 2 +-
 4 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/ArduCopter/UserCode.cpp b/ArduCopter/UserCode.cpp
index 2798cd935c..1d9cfcdb02 100644
--- a/ArduCopter/UserCode.cpp
+++ b/ArduCopter/UserCode.cpp
@@ -33,7 +33,6 @@ void Copter::userhook_FastLoop()
 {
     // put your 100Hz code here
     takeoff_crash_detect();
-    zr_app_10hz();
 }
 #endif
 
@@ -49,6 +48,7 @@ void Copter::userhook_50Hz()
 void Copter::userhook_MediumLoop()
 {
     // put your 10Hz code here
+    zr_app_10hz();
 #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
 if(current_loc.alt > avoid.get_zr_avd_alt())
     do_avoid_action();
diff --git a/ArduCopter/version.h b/ArduCopter/version.h
index 20c294471f..2a32fa9474 100644
--- a/ArduCopter/version.h
+++ b/ArduCopter/version.h
@@ -7,16 +7,16 @@
 #include "ap_version.h"
 #ifdef GIT_VERSION
 #undef GIT_VERSION
-#define GIT_VERSION "3"
+#define GIT_VERSION "Beta"
 #endif
-#define THISFIRMWARE "ZRUAV v4.3.0-dev"  //"ArduCopter V4.0.0"
+#define THISFIRMWARE "ZRUAV v4.3.1"  //"ArduCopter V4.0.0"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,3,0,FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FIRMWARE_VERSION 4,3,1,FIRMWARE_VERSION_TYPE_OFFICIAL
 
 #define FW_MAJOR 4
 #define FW_MINOR 3
-#define FW_PATCH 0
+#define FW_PATCH 1
 #define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL
 /**
  * AVDv6: avoid.get_zr_mode() = 3时可以用Loiter模式测试自动避障
diff --git a/ArduCopter/zr_app.cpp b/ArduCopter/zr_app.cpp
index f72aef1ffb..233a47fd53 100644
--- a/ArduCopter/zr_app.cpp
+++ b/ArduCopter/zr_app.cpp
@@ -60,7 +60,7 @@ void Copter::zr_app_10hz()
     if(zr_serial_api.data_trans_init){
 // void AC_ZR_Serial_API::get_vehicle_status(uint8_t mode,uint8_t in_air,uint32_t home_distance,uint16_t volt_mv,uint8_t bat_remaining)
         uint16_t now_volt = uint16_t(battery.voltage() * 100);
-        zr_serial_api.get_vehicle_status((uint8_t)control_mode,(uint8_t)flightmode->is_landing(),home_distance(),now_volt,battery.capacity_remaining_pct());
+        zr_serial_api.get_vehicle_status((uint8_t)control_mode,!ap.land_complete,home_distance(),now_volt,battery.capacity_remaining_pct());
     }
 
 }
@@ -96,7 +96,7 @@ void Copter::zr_app_50hz(){
         if(ahrs.get_secondary_attitude(euler)){
             euler_deg.x = degrees(euler.x);
             euler_deg.y = degrees(euler.y);
-            euler_deg.z = wrap_360_cd(degrees(euler.z));
+            euler_deg.z = wrap_360(degrees(euler.z));
             // zr_serial_api.get_vehicle_euler_angles(euler_deg);
             // gcs().send_text(MAV_SEVERITY_INFO,"get euler:%.2f,%.2f,%.2f",euler_deg.x,euler_deg.y,euler_deg.z);
         }
diff --git a/modules/mavlink b/modules/mavlink
index 86cf7601a7..959dea22da 160000
--- a/modules/mavlink
+++ b/modules/mavlink
@@ -1 +1 @@
-Subproject commit 86cf7601a72f065f6c2dd8b10a602a73f827ac64
+Subproject commit 959dea22dafbae0e5682cd2191e608b45a7566a9