#include "Copter.h"


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);
        }
    }

}

void Copter::zr_app_10hz()
{


}
void Copter::zr_app_50hz(){

}