增加遥控器控制relay

APMrover2/Rover.cpp

@@ -261,7 +261,13 @@ void Rover::update_logging2(void)
         logger.Write_Vibration();
     }
     
-    underwater_sonar.update(serial_manager,current_loc);
+    // underwater_sonar.update(serial_manager,current_loc);
+    uint16_t rc8_in = RC_Channels::rc_channel(CH_8)->get_radio_in();
+    uint16_t rc9_in = RC_Channels::rc_channel(CH_9)->get_radio_in();
+    AP_Relay *_apm_relay = AP::relay();
+    rc8_in > 1500?_apm_relay->on(1):_apm_relay->off(1);
+    rc9_in > 1500?_apm_relay->on(2):_apm_relay->off(2);
+
 }
 
 

APMrover2/version.h

@@ -6,12 +6,19 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ZR_Boat V4.0.2"
+#define THISFIRMWARE "ZR_Boat V4.0.3"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,0,1,FIRMWARE_VERSION_TYPE_DEV
+#define FIRMWARE_VERSION 4,0,3,FIRMWARE_VERSION_TYPE_DEV
 
 #define FW_MAJOR 4
 #define FW_MINOR 0
-#define FW_PATCH 0
+#define FW_PATCH 3
 #define FW_TYPE FIRMWARE_VERSION_TYPE_DEV
+
+/**
+ * @brief 更新说明
+ * 
+ * 4.0.3  去除声呐串口读取，使用uavcan，增加8、9通道控制relay 1、2
+ * 
+ */