rtl rc disable

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;

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)

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

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

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

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);

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;

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