From 2018af319f4fbaa25ab21a546125f272a6f5f000 Mon Sep 17 00:00:00 2001
From: nagezeng <zbr3550@sina.com>
Date: Tue, 28 Jun 2022 16:40:36 +0800
Subject: [PATCH] =?UTF-8?q?=E8=B5=B7=E9=99=8D=E7=8A=B6=E6=80=81=E8=B0=83?=
 =?UTF-8?q?=E6=95=B4?=
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---
 ArduCopter/mode_auto.cpp | 6 +++---
 ArduCopter/version.h     | 2 +-
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/ArduCopter/mode_auto.cpp b/ArduCopter/mode_auto.cpp
index af79443e66..32f760ed64 100644
--- a/ArduCopter/mode_auto.cpp
+++ b/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);
diff --git a/ArduCopter/version.h b/ArduCopter/version.h
index 48fa39b0e8..6dd83fc01f 100644
--- a/ArduCopter/version.h
+++ b/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