From 303ac7eb559e56af8431c7d957d2f6d4c5134e27 Mon Sep 17 00:00:00 2001 From: yaozb Date: Tue, 4 Aug 2020 11:26:55 +0800 Subject: [PATCH] =?UTF-8?q?=E8=B5=B7=E9=99=8D=EF=BC=9A=E4=BF=AE=E6=AD=A3?= =?UTF-8?q?=E7=BB=A7=E7=BB=AD=E6=89=A7=E8=A1=8C=E6=B6=88=E6=81=AF?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- ArduCopter/AP_Arming.cpp | 2 +- ArduCopter/mode.cpp | 3 ++- ArduCopter/mode_rtl.cpp | 3 ++- 3 files changed, 5 insertions(+), 3 deletions(-) diff --git a/ArduCopter/AP_Arming.cpp b/ArduCopter/AP_Arming.cpp index a6f8e20c2b..c0a3c52c91 100644 --- a/ArduCopter/AP_Arming.cpp +++ b/ArduCopter/AP_Arming.cpp @@ -820,7 +820,7 @@ bool AP_Arming_Copter::disarm() } #if HIL_MODE != HIL_MODE_DISABLED || CONFIG_HAL_BOARD == HAL_BOARD_SITL - gcs().send_text(MAV_SEVERITY_INFO, "Disarming motors"); + gcs().send_text(MAV_SEVERITY_INFO, "NOTICE: Disarming motors"); #endif AP_AHRS_NavEKF &ahrs = AP::ahrs_navekf(); diff --git a/ArduCopter/mode.cpp b/ArduCopter/mode.cpp index 8b9c3f3f8e..d9172e61fe 100644 --- a/ArduCopter/mode.cpp +++ b/ArduCopter/mode.cpp @@ -822,12 +822,13 @@ void Copter::update_updownStatus2(uint8_t status) { copter.updownStatus = (UpDownState)status; if (status == 3) - { + { set_mode(Mode::Number::AUTO, ModeReason::REQUEST_CMD); mavlink_zr_flying_status_t zr_flying_status_t; zr_flying_status_t.updown_status = copter.updownStatus; zr_flying_status_t.countdown = 255; gcs().update_zr_fly_status(&zr_flying_status_t); + gcs().send_text(MAV_SEVERITY_WARNING,"NOTICE: 执行继续任务"); } } diff --git a/ArduCopter/mode_rtl.cpp b/ArduCopter/mode_rtl.cpp index 234b840376..47778e305f 100644 --- a/ArduCopter/mode_rtl.cpp +++ b/ArduCopter/mode_rtl.cpp @@ -102,7 +102,8 @@ void ModeRTL::run(bool disarm_on_land) } } else if (copter.updownStatus == UpDown_ContinueDescent) - { + { + gcs().send_text(MAV_SEVERITY_WARNING,"NOTICE: 开始着陆"); _state = RTL_Land; }