起降状态调整

ArduCopter/mode_auto.cpp

@@ -228,7 +228,7 @@ void ModeAuto::wp_start(const Location& dest_loc)
     if (auto_yaw.mode() != AUTO_YAW_ROI) {
         auto_yaw.set_mode_to_default(false);
     }
-    if (copter.updownStatus < UpDown_InMission)
+    if (copter.updownStatus != UpDown_InMission)
     {
         copter.updownStatus = UpDown_InMission;
         copter.Log_Write_Data(DATA_UPDOWN_STATUS, (uint16_t)copter.updownStatus);
@@ -769,7 +769,7 @@ void ModeAuto::takeoff_run()
     if (motors->armed() || copter.ap.auto_armed)
     {  
         if(g.zr_tk_delay > 0 && g.zr_tk_req_alt > 0 && \
-                copter.updownStatus < UpDown_RequestClimb && \
+                copter.updownStatus != UpDown_RequestClimb && \
                 updown_state == 2)
         {
             updown_state = 3;   // 到达悬停高度，状态更新到等待
@@ -805,7 +805,7 @@ void ModeAuto::takeoff_run()
             attitude_control->input_euler_angle_roll_pitch_euler_rate_yaw(wp_nav->get_roll(), wp_nav->get_pitch(), 0);
             return;
             
-        }else if(copter.updownStatus > UpDown_RequestClimb){
+        }else if(copter.updownStatus == UpDown_ContinueClimb){  // 地面站弹框确认，发送状态3
             if(updown_state < 4){   // 地面站弹框确定，发送新的值，状态位同步更新
                 updown_state = 4;
                 takeoff_start(last_loc);

ArduCopter/version.h

@@ -5,7 +5,7 @@
 #endif
 
 #include "ap_version.h"
-#define GIT_VERSION "3"
+#define GIT_VERSION "4"
 #define THISFIRMWARE "ZRUAV v4.1.19"  //"ArduCopter V4.0.0"
 
 // the following line is parsed by the autotest scripts