diff --git a/ArduCopter/UserCode.cpp b/ArduCopter/UserCode.cpp index c26c851233..583ec8f5ec 100644 --- a/ArduCopter/UserCode.cpp +++ b/ArduCopter/UserCode.cpp @@ -10,6 +10,7 @@ void Copter::userhook_init() // this will be called once at start-up relay.on(1); + set_mode(Mode::Number::LOITER, ModeReason::STARTUP); } #endif @@ -85,15 +86,15 @@ void Copter::userhook_SuperSlowLoop() if(motors->armed()){ before_fly = false; relay.on(3); - if (control_mode == Mode::Number::AUTO || control_mode == Mode::Number::RTL || control_mode == Mode::Number::LAND){ - rc().set_disable_ch(); - }else{ - rc().set_enable_ch(); - } + // if (control_mode == Mode::Number::AUTO || control_mode == Mode::Number::RTL || control_mode == Mode::Number::LAND){ + // rc().set_disable_ch(); + // }else{ + // rc().set_enable_ch(); + // } }else{ relay.off(3); - rc().set_enable_ch(); + // rc().set_enable_ch(); updownStatus =UpDown_TakeOffStart; mavlink_zr_flying_status_t zr_flying_status_t; zr_flying_status_t.updown_status = updownStatus; diff --git a/ArduCopter/mode.cpp b/ArduCopter/mode.cpp index dc27d36a2d..487bfbcfc2 100644 --- a/ArduCopter/mode.cpp +++ b/ArduCopter/mode.cpp @@ -633,8 +633,8 @@ void Mode::land_run_horizontal_control() } #endif static uint8_t prt_once; - // bool land_lock_attitude = (get_alt_above_ground_cm() < g.land_lock_alt * 2) && copter.rangefinder_alt_ok() && g.land_lock_alt && (copter.control_mode == Mode::Number::LAND); - bool land_lock_attitude = (get_alt_above_ground_cm() < g.land_lock_alt * 4) && g.land_lock_alt && (copter.control_mode == Mode::Number::LAND); + bool land_lock_attitude = (get_alt_above_ground_cm() < g.land_lock_alt * 2) && copter.rangefinder_alt_ok() && g.land_lock_alt && (copter.control_mode == Mode::Number::LAND); + // bool land_lock_attitude = (get_alt_above_ground_cm() < g.land_lock_alt * 4) && g.land_lock_alt && (copter.control_mode == Mode::Number::LAND); if(land_lock_attitude) { if(prt_once == 0) diff --git a/ArduCopter/mode_auto.cpp b/ArduCopter/mode_auto.cpp index 442945ce54..b44bf026f6 100644 --- a/ArduCopter/mode_auto.cpp +++ b/ArduCopter/mode_auto.cpp @@ -808,7 +808,7 @@ void ModeAuto::wp_run() float target_yaw_rate = 0; if (!copter.failsafe.radio) { // get pilot's desired yaw rate - target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in()); + // target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in()); if (!is_zero(target_yaw_rate)) { auto_yaw.set_mode(AUTO_YAW_HOLD); } @@ -855,7 +855,7 @@ void ModeAuto::spline_run() float target_yaw_rate = 0; if (!copter.failsafe.radio) { // get pilot's desired yaw rat - target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in()); + // target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in()); if (!is_zero(target_yaw_rate)) { auto_yaw.set_mode(AUTO_YAW_HOLD); } @@ -951,7 +951,7 @@ void ModeAuto::loiter_run() // accept pilot input of yaw float target_yaw_rate = 0; if (!copter.failsafe.radio) { - target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in()); + // target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in()); } // set motors to full range diff --git a/ArduCopter/mode_rtl.cpp b/ArduCopter/mode_rtl.cpp index 47778e305f..14bbf7a297 100644 --- a/ArduCopter/mode_rtl.cpp +++ b/ArduCopter/mode_rtl.cpp @@ -197,7 +197,7 @@ void ModeRTL::climb_return_run() float target_yaw_rate = 0; if (!copter.failsafe.radio) { // get pilot's desired yaw rate - target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in()); + // target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in()); if (!is_zero(target_yaw_rate)) { auto_yaw.set_mode(AUTO_YAW_HOLD); } @@ -254,7 +254,7 @@ void ModeRTL::loiterathome_run() float target_yaw_rate = 0; if (!copter.failsafe.radio) { // get pilot's desired yaw rate - target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in()); + // target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in()); if (!is_zero(target_yaw_rate)) { auto_yaw.set_mode(AUTO_YAW_HOLD); } @@ -342,7 +342,7 @@ void ModeRTL::descent_run() update_simple_mode(); // convert pilot input to lean angles - get_pilot_desired_lean_angles(target_roll, target_pitch, loiter_nav->get_angle_max_cd(), attitude_control->get_althold_lean_angle_max()); + // get_pilot_desired_lean_angles(target_roll, target_pitch, loiter_nav->get_angle_max_cd(), attitude_control->get_althold_lean_angle_max()); // record if pilot has overridden roll or pitch if (!is_zero(target_roll) || !is_zero(target_pitch)) { @@ -354,7 +354,7 @@ void ModeRTL::descent_run() } // get pilot's desired yaw rate - target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in()); + // target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in()); } // set motors to full range diff --git a/ArduCopter/version.h b/ArduCopter/version.h index b89b74dd2a..708a6f9cb0 100644 --- a/ArduCopter/version.h +++ b/ArduCopter/version.h @@ -6,7 +6,7 @@ #include "ap_version.h" -#define THISFIRMWARE "ZRUAV v4.0.4-rc1.1" //"ArduCopter V4.0.0" +#define THISFIRMWARE "ZRUAV v4.0.4-rc1.2" //"ArduCopter V4.0.0" // the following line is parsed by the autotest scripts #define FIRMWARE_VERSION 4,0,4,FIRMWARE_VERSION_TYPE_OFFICIAL diff --git a/libraries/RC_Channel/RC_Channel.cpp b/libraries/RC_Channel/RC_Channel.cpp index b94784c009..9a70b4c87f 100644 --- a/libraries/RC_Channel/RC_Channel.cpp +++ b/libraries/RC_Channel/RC_Channel.cpp @@ -136,7 +136,7 @@ RC_Channel::update(void) if (has_override() && !rc().ignore_overrides()) { radio_in = override_value; } else if (!rc().ignore_receiver()) { - if(rc().ignore_ctrl_channel() && !rc().is_enable_ch(ch_in)){ + if(rc().ignore_ctrl_channel() && ch_in < 6){ return false; }else{ radio_in = hal.rcin->read(ch_in); diff --git a/libraries/RC_Channel/RC_Channel.h b/libraries/RC_Channel/RC_Channel.h index 2374f76cb4..b9c63d515b 100644 --- a/libraries/RC_Channel/RC_Channel.h +++ b/libraries/RC_Channel/RC_Channel.h @@ -343,16 +343,16 @@ public: return _options & uint32_t(Option::IGNORE_CTRLCHAN); } - bool is_enable_ch(uint8_t ch) const { - return (_enable_ch == (ch+1) ); + bool is_enable_ch(uint8_t num) const { + return (_enable_ch == (num+1) ); } - void set_disable_ch() { - _options = uint32_t(Option::IGNORE_CTRLCHAN); - } - void set_enable_ch() { - _options = 0; - } + // void set_disable_ch() { + // _options = uint32_t(Option::IGNORE_CTRLCHAN); + // } + // void set_enable_ch() { + // _options = 0; + // } float override_timeout_ms() const { return _override_timeout.get() * 1e3f; diff --git a/zr_version b/zr_version index def40d0934..16eeedd3ec 100644 --- a/zr_version +++ b/zr_version @@ -9,7 +9,7 @@ v4.0.3: 快速解锁 v4.0.4： 分阶段降落，光流门限，限制GPS切换 _nunber_to_switch, rc1.1 降落倒计时，状态码刷新，测距日志增加，智能电池压差 - + rc1.2 降落锁定遥控,初始切定点,提示HOME点更新