mark zr4.0.5 ,0908

ArduCopter/Copter.h

@@ -701,7 +701,8 @@ private:
     bool set_home_to_current_location(bool lock) WARN_IF_UNUSED;
     bool set_home(const Location& loc, bool lock) WARN_IF_UNUSED;
     bool far_from_EKF_origin(const Location& loc);
-
+    bool close_to_EKF_origin(const Location& loc);
+    
     // compassmot.cpp
     MAV_RESULT mavlink_compassmot(const GCS_MAVLINK &gcs_chan);
 

ArduCopter/mode_auto.cpp

@@ -1209,6 +1209,8 @@ void ModeAuto::do_nav_wp(const AP_Mission::Mission_Command& cmd)
                 // for unsupported commands it is safer to stop
                 break;
         }
+
+        fast_waypoint = copter.wp_nav->get_fast_waypoint();
         copter.wp_nav->set_fast_waypoint(fast_waypoint);
     }
 }

ArduCopter/version.h

@@ -6,7 +6,7 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ZRUAV v4.0.5-rc1"  //"ArduCopter V4.0.0"
+#define THISFIRMWARE "ZRUAV v4.0.5-rc2"  //"ArduCopter V4.0.0"
 
 // the following line is parsed by the autotest scripts
 #define FIRMWARE_VERSION 4,0,5,FIRMWARE_VERSION_TYPE_OFFICIAL

ArduCopter/zr_flight.cpp

@@ -5,7 +5,18 @@
 void Copter::do_avoid_action(){
    
 }
+// bool Copter::close_to_EKF_origin(const Location& loc)
+// {
+//     // check distance to EKF origin
+//     const struct Location &ekf_origin = inertial_nav.get_origin();
+//     if (get_distance(ekf_origin, loc) < 15 && ekf_origin.alt < 5000) {
+//         // gcs().send_text(MAV_SEVERITY_INFO,"NOTICE: dist:%.2f,alt:%d",get_distance(ekf_origin, loc) ,ekf_origin.alt);
+//         return true;
+//     }
 
+//     // close enough to origin
+//     return false;
+// }
 
 bool Copter::zr_radio_valid(){
     if(!motors->armed()){
@@ -66,10 +77,7 @@ void Copter::zr_SuperSlowLoop(){
         relay.off(3);
         // rc().set_enable_ch();
         updownStatus =UpDown_TakeOffStart;
-        mavlink_zr_flying_status_t  zr_flying_status_t; 
-        zr_flying_status_t.updown_status = updownStatus;
-        //TODO UPDATE COUNTDOWN
-        gcs().update_zr_fly_status(&zr_flying_status_t);
+        
     }
     if(before_fly){
         uint8_t cnt,cacl_volt_pst;

libraries/AC_WPNav/AC_WPNav.h

@@ -223,7 +223,8 @@ public:
 
     static const struct AP_Param::GroupInfo var_info[];
 
-    bool get_fast_waypoint(bool fast) { return _fast_wp; }
+   
+    bool get_fast_waypoint() const { return _fast_wp; }
 
 protected:
 

modules/mavlink

@@ -1 +1 @@
-Subproject commit 4a6577557847fcb13f8bd9b7ebbe54f4a5a9f00e
+Subproject commit 18cab6950986cd7b9b7a507ec35f3501d4a7e019