diff --git a/ArduCopter/zr_app.cpp b/ArduCopter/zr_app.cpp index f10792f13e..fd99f03973 100644 --- a/ArduCopter/zr_app.cpp +++ b/ArduCopter/zr_app.cpp @@ -3,6 +3,21 @@ void Copter::zr_app_1hz() { + static bool before_fly = true; + if(motors->armed()){ + if(before_fly){ + before_fly = false; + } + relay.on(3); // 电子开关，保持通路 + // camera.set_in_arm_mode(true); + }else{ + relay.off(3); + if(before_fly){ + uint8_t bat_cnt = zr_app.get_battery_capacity(1,battery.voltage()); + battery.reset_remaining(0,(float)bat_cnt ); + // gcs().send_text(MAV_SEVERITY_INFO, "bat:%.2f,pst%d,%.2f",battery.voltage(),bat_cnt,(float)bat_cnt); + } + } } diff --git a/bd-pix4.sh b/bd-pix4.sh new file mode 100755 index 0000000000..5a2bf7a610 --- /dev/null +++ b/bd-pix4.sh @@ -0,0 +1,3 @@ +./waf configure --board Pixhawk4 +./waf copter +cp ./build/Pixhawk4/bin/arducopter.apj /mnt/f/_01-work/100=data/固件/编译/pixhakw4-master.px4 \ No newline at end of file diff --git a/cubeblack.sh b/cubeblack.sh new file mode 100755 index 0000000000..adb82a6dc5 --- /dev/null +++ b/cubeblack.sh @@ -0,0 +1,3 @@ +./waf configure --board cubeblack +./waf copter +cp ./build/CubeBlack/bin/arducopter.apj /mnt/e/_00-inbox/_temp/cubeblack.px4 diff --git a/libraries/AC_ZR_APP/AC_ZR_App.cpp b/libraries/AC_ZR_APP/AC_ZR_App.cpp index c1b72dbf58..7c8056526a 100644 --- a/libraries/AC_ZR_APP/AC_ZR_App.cpp +++ b/libraries/AC_ZR_APP/AC_ZR_App.cpp @@ -180,4 +180,76 @@ uint16_t AC_ZR_App::get_land_deceleration(int32_t alt_cm,int16_t sys_speed_dn) } return abs(speed_dn_now); +} + + + +uint8_t AC_ZR_App::BinarySearch2f(float a[], float value, int low, int high) +{ + static uint8_t cacl_volt_pst = 0; + if (low > high) + return cacl_volt_pst; + cacl_volt_pst = (low + high) / 2; + + if (fabs(a[cacl_volt_pst] - value)<0.01) + //if (abs(a[mid] - value) < 30) + return cacl_volt_pst; + else if (a[cacl_volt_pst] > value) + return BinarySearch2f(a, value, low, cacl_volt_pst - 1); + else + return BinarySearch2f(a, value, cacl_volt_pst + 1, high); +} + + +uint8_t AC_ZR_App::get_battery_capacity(uint8_t type,float volt) +{ + uint8_t bat_cnt = 100; + // float cycle_pst = (1 - bat_cycled * 0.0002); + switch (type) + { + case 0: + /* code */ + break; + case 1: + + static float batt_mah_teb[] = + { + 16.80, 17.40, 18.00, 18.51, 18.80, 19.00, 19.19, 19.34, 19.53, 19.73, + 19.88, 20.04, 20.16, 20.29, 20.47, 20.56, 20.63, 20.69, 20.75, 20.80, + 20.85, 20.90, 20.96, 21.02, 21.07, 21.13, 21.18, 21.24, 21.29, 21.34, + 21.40, 21.45, 21.49, 21.54, 21.59, 21.64, 21.69, 21.72, 21.76, 21.79, + 21.84, 21.88, 21.92, 21.96, 22.01, 22.06, 22.11, 22.16, 22.21, 22.26, + 22.31, 22.37, 22.43, 22.48, 22.54, 22.59, 22.65, 22.70, 22.76, 22.81, + 22.86, 22.91, 22.95, 23.01, 23.07, 23.13, 23.19, 23.24, 23.30, 23.36, + 23.41, 23.46, 23.51, 23.58, 23.65, 23.71, 23.79, 23.88, 23.94, 24.00, + 24.07, 24.14, 24.21, 24.26, 24.32, 24.36, 24.40, 24.43, 24.45, 24.48, + 24.50, 24.52, 24.54, 24.57, 24.60, 24.64, 24.69, 24.76, 24.84, 24.90, + 25.20 + }; + bat_cnt = BinarySearch2f(batt_mah_teb,volt,0,100); + // gcs().send_text(MAV_SEVERITY_INFO,"cnt:%d,mid:%d",bat_cnt,cacl_volt_pst); + break; + case 2: + static float batt_mah_teb_7s[] = + { + 21.60, 21.80, 22.04, 22.28, 22.52, 22.74, 22.95, 23.19, 23.32, 23.52, + 23.65, 23.81, 23.94, 24.02, 24.10, 24.18, 24.22, 24.25, 24.30, 24.39, + 24.46, 24.52, 24.60, 24.67, 24.74, 24.80, 24.86, 24.93, 24.97, 25.03, + 25.08, 25.13, 25.18, 25.23, 25.27, 25.32, 25.36, 25.41, 25.45, 25.50, + 25.54, 25.58, 25.63, 25.69, 25.74, 25.79, 25.85, 25.91, 25.98, 26.05, + 26.10, 26.16, 26.21, 26.28, 26.35, 26.40, 26.47, 26.54, 26.61, 26.67, + 26.74, 26.79, 26.85, 26.93, 27.00, 27.07, 27.13, 27.19, 27.26, 27.32, + 27.38, 27.46, 27.52, 27.59, 27.66, 27.75, 27.80, 27.87, 27.94, 28.03, + 28.10, 28.16, 28.21, 28.28, 28.33, 28.38, 28.43, 28.46, 28.50, 28.53, + 28.56, 28.59, 28.61, 28.64, 28.67, 28.71, 28.77, 28.86, 28.97, 29.13, + 29.30 + }; + bat_cnt = BinarySearch2f(batt_mah_teb_7s,volt,0,100); + // gcs().send_text(MAV_SEVERITY_INFO,"cnt:%d,mid:%d",bat_cnt,cacl_volt_pst); + break; + + default: + break; + } + return bat_cnt; } \ No newline at end of file diff --git a/libraries/AC_ZR_APP/AC_ZR_App.h b/libraries/AC_ZR_APP/AC_ZR_App.h index 169541d873..cafa5bbe98 100644 --- a/libraries/AC_ZR_APP/AC_ZR_App.h +++ b/libraries/AC_ZR_APP/AC_ZR_App.h @@ -42,6 +42,7 @@ public: uint32_t get_zr_sysid(); uint16_t get_land_deceleration(int32_t alt_cm,int16_t sys_speed_dn); + uint8_t get_battery_capacity(uint8_t type,float volt); static const struct AP_Param::GroupInfo var_info[]; @@ -64,5 +65,6 @@ protected: private: static AC_ZR_App *_singleton; + uint8_t BinarySearch2f(float a[], float value, int low, int high); }; diff --git a/modules/DroneCAN/dronecan_dsdlc b/modules/DroneCAN/dronecan_dsdlc new file mode 160000 index 0000000000..c00fc457e2 --- /dev/null +++ b/modules/DroneCAN/dronecan_dsdlc @@ -0,0 +1 @@ +Subproject commit c00fc457e22c0b71e3a385f092b519830ef58ea2 diff --git a/modules/DroneCAN/libcanard b/modules/DroneCAN/libcanard new file mode 160000 index 0000000000..8e66f73398 --- /dev/null +++ b/modules/DroneCAN/libcanard @@ -0,0 +1 @@ +Subproject commit 8e66f733981c8acb5bed67d57b0079238e611cfa diff --git a/modules/DroneCAN/pydronecan b/modules/DroneCAN/pydronecan new file mode 160000 index 0000000000..8fb1b18ab3 --- /dev/null +++ b/modules/DroneCAN/pydronecan @@ -0,0 +1 @@ +Subproject commit 8fb1b18ab3250695d85fe2943dfc68e8b45024b7 diff --git a/periph_copy.sh b/periph_copy.sh new file mode 100755 index 0000000000..497f88ff23 --- /dev/null +++ b/periph_copy.sh @@ -0,0 +1,3 @@ +./waf AP_Periph +cp ./build/f103-GPS/bin/AP_Periph.hex /mnt/e/_00-inbox/periph-1.3.1.hex +cp ./build/f103-GPS/bin/AP_Periph_with_bl.hex /mnt/e/_00-inbox/periph-1.3_with_bl.hex