SDK解锁方式修改

ArduCopter/zr_app.cpp

@@ -89,8 +89,7 @@ void Copter::zr_app_50hz(){
                 case AC_ZR_Serial_API::ZR_Msg_Type::MSG_CONTROL_TKOFF:
                 {
                     if(!motors->armed()){
-                        motors->armed(true);
-                        hal.util->set_soft_armed(true);
+                        arming.arm(AP_Arming::Method::SCRIPTING);
                     }
                     if(flightmode->mode_number() != Mode::Number::GUIDED){
                         set_mode(Mode::Number::GUIDED, ModeReason::SCRIPTING);

libraries/AC_ZR_APP/AC_ZR_Serial_API.cpp

@@ -282,7 +282,7 @@ void AC_ZR_Serial_API::get_vehicle_euler_angles(Vector3f euler)
     write_data_to_port(_zr_api_port,(const uint8_t *)buf, mav_data_len);
 
 }
-
+// TODO: 飞行模式调整成自定义
 void AC_ZR_Serial_API::get_vehicle_status(uint8_t mode,uint8_t in_air,uint32_t home_distance,uint16_t volt_mv,uint8_t bat_remaining)
 {
     return; // for test ,don't send