避障调整，手动避障bug修复，自动避障有效值判断

ArduCopter/zr_flight.cpp

@@ -166,8 +166,9 @@ void Copter::do_avoid_action(){
     AP_Proximity *proximity = AP::proximity();
     if(proximity == nullptr)
         return;
-    bool get_new_dist = proximity->get_horizontal_distance(0,proxy_dist);
-    if(get_new_dist == false){
+    bool get_new_dist = proximity->get_horizontal_distance(315,proxy_dist);
+    bool data_failed = proximity->sensor_failed();
+    if(get_new_dist == false || data_failed){
         proxy_dist = avoid.get_zr_avd_max() + 1.0;
     }
 #endif

all.sh

@@ -1,20 +1,20 @@
 ./waf configure --board rs100
 ./waf clean
 ./waf copter
-cp ./build/rs100/bin/arducopter.apj  /mnt/f/_01-work/100\=data/固件/zr-v4/wsl/致睿rs100-v4.0.16-RC3.px4
+cp ./build/rs100/bin/arducopter.apj  /mnt/f/_01-work/100\=data/固件/zr-v4/wsl/致睿rs100-v4.0.16-RC5.px4
 ./waf configure --board rs100h
 ./waf clean
 ./waf copter
-cp ./build/rs100h/bin/arducopter.apj  /mnt/f/_01-work/100\=data/固件/zr-v4/wsl/致睿rs100h-v4.0.16-RC3.px4
+cp ./build/rs100h/bin/arducopter.apj  /mnt/f/_01-work/100\=data/固件/zr-v4/wsl/致睿rs100h-v4.0.16-RC5.px4
 ./waf configure --board d100
 ./waf clean
 ./waf copter
-cp ./build/d100/bin/arducopter.apj  /mnt/f/_01-work/100\=data/固件/zr-v4/wsl/中海达d100-v4.0.16-RC3.px4
+cp ./build/d100/bin/arducopter.apj  /mnt/f/_01-work/100\=data/固件/zr-v4/wsl/中海达d100-v4.0.16-RC5.px4
 ./waf configure --board d100h
 ./waf clean
 ./waf copter
-cp ./build/d100h/bin/arducopter.apj  /mnt/f/_01-work/100\=data/固件/zr-v4/wsl/中海达d100h-v4.0.16-RC3.px4
+cp ./build/d100h/bin/arducopter.apj  /mnt/f/_01-work/100\=data/固件/zr-v4/wsl/中海达d100h-v4.0.16-RC5.px4
 ./waf configure --board zr-hexa
 ./waf clean
 ./waf copter
-cp ./build/zr-hexa/bin/arducopter.apj  /mnt/f/_01-work/100\=data/固件/zr-v4/wsl/六轴m66-v4.0.16-RC3.px4
+cp ./build/zr-hexa/bin/arducopter.apj  /mnt/f/_01-work/100\=data/固件/zr-v4/wsl/六轴m66-v4.0.16-RC5.px4

libraries/AC_Avoidance/AC_Avoid.cpp

@@ -98,9 +98,7 @@ void AC_Avoid::adjust_velocity(float kP, float accel_cmss, Vector2f &desired_vel
         _avoid_action = false;
         return;
     }
-    if(_enable_aviod == false){
-        return;
-    }
+
     // limit acceleration
     const float accel_cmss_limited = MIN(accel_cmss, AC_AVOID_ACCEL_CMSS_MAX);
 

libraries/AC_Avoidance/AC_Avoid.h

@@ -164,7 +164,6 @@ private:
     AP_Int16 _zr_on_dist;
     AP_Int16 _zr_max_climb;
     bool _proximity_enabled = true; // true if proximity sensor based avoidance is enabled (used to allow pilot to enable/disable)
-    bool _enable_aviod;  // 离开Home点一点高度和距离后有效
 
     bool _far_form_home;  // 离开Home点一定高度和距离后有效
     bool _avoid_action;