兼容旧的声呐，改Rangefinder NMEA串口通信

APMrover2/version.cpp

@@ -29,7 +29,7 @@ const AP_FWVersion AP_FWVersion::fwver{
     .fw_hash_str = "",
 #else
     // .fw_string = THISFIRMWARE " (" GIT_VERSION ")",
-    .fw_string = "Version: v4.0.2 ,Board ID:BD202103001",
+    .fw_string = "Version: v4.0.3 ,Board ID:BD202103001",
     .fw_hash_str = GIT_VERSION,
 #endif
     .middleware_name = nullptr,

libraries/AP_RangeFinder/AP_RangeFinder_NMEA.cpp

@@ -18,7 +18,7 @@
 #include <AP_SerialManager/AP_SerialManager.h>
 #include <ctype.h>
 #include "AP_RangeFinder_NMEA.h"
-
+// #include <GCS_MAVLink/GCS.h>
 extern const AP_HAL::HAL& hal;
 
 // constructor initialises the rangefinder
@@ -50,6 +50,8 @@ void AP_RangeFinder_NMEA::update(void)
     if (get_reading(state.distance_cm)) {
         // update range_valid state based on distance measured
         state.last_reading_ms = now;
+        // gcs().send_text(MAV_SEVERITY_INFO,"t:%ld,dist:%dcm",state.last_reading_ms,state.distance_cm);
+
         update_status();
     } else if ((now - state.last_reading_ms) > 3000) {
         set_status(RangeFinder::RangeFinder_NoData);
@@ -71,6 +73,8 @@ bool AP_RangeFinder_NMEA::get_reading(uint16_t &reading_cm)
             ret = true;
             _sonar_deep = radar_data[1];
             _sonar_voltage = radar_data[5];
+
+            // gcs().send_text(MAV_SEVERITY_INFO,"deep:%.2f,volt:%.2f",_sonar_deep,_sonar_voltage);
         }
     }