测流起始航点修改，增加参数调整

ArduCopter/Parameters.cpp

@@ -1668,16 +1668,16 @@ const char* Copter::get_sysid_board_id(void)
     switch (type)
     {
         case 0:
-            snprintf(buf, sizeof(buf),  "Version: zr-v4.1.2 ,ID: RS100%04d%05d",(int)nameValue1,(int)nameValue2);
+            snprintf(buf, sizeof(buf),  "Version: zr-v4.1.3 ,ID: RS100%04d%05d",(int)nameValue1,(int)nameValue2);
             break;
         case 1:
-            snprintf(buf, sizeof(buf),  "Version: zr-v4.1.2 ,ID: M660%04d%05d",(int)nameValue1,(int)nameValue2);
+            snprintf(buf, sizeof(buf),  "Version: zr-v4.1.3 ,ID: M660%04d%05d",(int)nameValue1,(int)nameValue2);
             break;
         case 2:
-            snprintf(buf, sizeof(buf),  "Version: zr-v4.1.2 ,ID: RF610%04d%05d",(int)nameValue1,(int)nameValue2);
+            snprintf(buf, sizeof(buf),  "Version: zr-v4.1.3 ,ID: RF610%04d%05d",(int)nameValue1,(int)nameValue2);
             break;
         case 3:
-            snprintf(buf, sizeof(buf),  "Version: zr-v4.1.2 ,Board ID: ZRZK.20QT2.%d",(int)nameValue2);
+            snprintf(buf, sizeof(buf),  "Version: zr-v4.1.3 ,Board ID: ZRZK.20QT2.%d",(int)nameValue2);
             break;
         
         default:

ArduCopter/mode_auto.cpp

@@ -1889,7 +1889,7 @@ bool ModeAuto::verify_nav_wp_flow_measure(const AP_Mission::Mission_Command& cmd
         return false;
     }
     
-    copter.flow_measure.set_wp_index(cmd.index -1);
+    copter.flow_measure.set_wp_index(cmd.index - copter.wp_nav->get_index_start()); // 修正测流起始航点
     copter.flow_measure.set_reach_flow_wp(true);  //到达航点标志置1
     if(copter.flow_measure.get_flow_update_state() < 2)
         return false;

ArduCopter/version.h

@@ -6,12 +6,12 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ZRUAV v4.1.2"  //"ArduCopter V4.0.0"
+#define THISFIRMWARE "ZRUAV v4.1.3"  //"ArduCopter V4.0.0"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,1,2,FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FIRMWARE_VERSION 4,1,3,FIRMWARE_VERSION_TYPE_OFFICIAL
 
 #define FW_MAJOR 4
 #define FW_MINOR 1
-#define FW_PATCH 2
+#define FW_PATCH 3
 #define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL

libraries/AC_WPNav/AC_WPNav.cpp

@@ -76,6 +76,7 @@ const AP_Param::GroupInfo AC_WPNav::var_info[] = {
 
     
     AP_GROUPINFO("DELAY_TIME",   12, AC_WPNav, _measure_delay_time, 10),
+    AP_GROUPINFO("INDEX_STR",   13, AC_WPNav, _measure_index_start, 2),
 
     AP_GROUPEND
 };

libraries/AC_WPNav/AC_WPNav.h

@@ -225,6 +225,7 @@ public:
 
     bool get_fast_waypoint() const { return _fast_wp; }
     uint8_t get_measure_time(void){return (uint8_t)_measure_delay_time;};
+    uint8_t get_index_start(void){return (uint8_t)_measure_index_start;};
 
 protected:
 
@@ -322,4 +323,5 @@ protected:
 
     AP_Int8     _fast_wp;  //modify by @Brown
     AP_Int8     _measure_delay_time;  //modify by @Brown
+    AP_Int8     _measure_index_start;
 };