Merge branch 'zr-v4.0.4-dev-rc1.0' of zrzk.nzeg.top:zrzk/zr-v4 into zr-v4.0.4-rc1.1

ArduCopter/AP_Arming.cpp

@@ -468,7 +468,7 @@ bool AP_Arming_Copter::mandatory_deadline_checks(bool display_failure)
         {
             check_failed(true, "无法解锁，授权码错误!");
         }else{ 
-            check_failed(true, "无法解锁，授权于%d-%d-%d到期!", deadline / 10000, (deadline % 10000) / 100, deadline % 100);
+            check_failed(true, "无法解锁，授权于%ld-%ld-%ld到期!", deadline / 10000, (deadline % 10000) / 100, deadline % 100);
         }
        // check_failed(display_failure, "Trial time has expired at %d-%d-%d !", deadline / 10000, (deadline % 10000) / 100, deadline % 100);
         return false;
@@ -822,7 +822,7 @@ 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();

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");
     }
 }
 

ArduCopter/mode_brake.cpp

@@ -87,10 +87,10 @@ void ModeBrake::run()
                     // zr_flying_status_t.countdown = countdown;  
                     // gcs().update_zr_fly_status(&zr_flying_status_t);
                     if(countdown>0){
-                         gcs().send_text(MAV_SEVERITY_INFO,"继续任务倒计时(秒)：%d",countdown);
+                         gcs().send_text(MAV_SEVERITY_WARNING,"NOTICE: 继续任务倒计时(秒)：%d",countdown);
                     }               
                     else  if(countdown<=0){
-                        gcs().send_text(MAV_SEVERITY_INFO," 执行继续任务");
+                        gcs().send_text(MAV_SEVERITY_WARNING,"NOTICE: 执行继续任务");
                        copter.updownStatus = UpDown_ContinueClimb;                    
                        set_mode(Mode::Number::AUTO, ModeReason::REQUEST_CMD);
                     }

ArduCopter/mode_rtl.cpp

@@ -91,10 +91,10 @@ void ModeRTL::run(bool disarm_on_land)
                     // zr_flying_status_t.countdown = countdown;  
                     // gcs().update_zr_fly_status(&zr_flying_status_t);
                     if(countdown>0){
-                        gcs().send_text(MAV_SEVERITY_INFO,"着陆倒计时(秒): %d",countdown);
+                        gcs().send_text(MAV_SEVERITY_WARNING,"NOTICE: 着陆倒计时(秒): %d",countdown);
                     }
                     else if(countdown<=0){
-                       gcs().send_text(MAV_SEVERITY_INFO,"开始着陆");
+                       gcs().send_text(MAV_SEVERITY_WARNING,"NOTICE: 开始着陆");
                         copter.updownStatus = UpDown_ContinueDescent;
                         _state = RTL_Land;
                     }
@@ -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;
             }
 

libraries/AP_BattMonitor/AP_BattMonitor_Serial_BattGo.cpp

@@ -264,14 +264,14 @@ void AP_BattMonitor_Serial_BattGo::read()
         }else{            
             if(tnow-last_rev_batt_time>5000000 && tnow - last_prt > 20000000 ){
                       _interim_state.healthy = false;
-                      gcs().send_text(MAV_SEVERITY_INFO,"BATT_ERR:已经%d秒没有接收到智能电池 的串口数据！",(tnow-last_rev_batt_time)/1000000);
+                      gcs().send_text(MAV_SEVERITY_WARNING,"BATT_ERR:已经%d秒没有接收到智能电池的串口数据！",(tnow-last_rev_batt_time)/1000000);
                 last_prt = tnow;
             }
         }
     }else{
             if(tnow-last_rev_batt_time>5000000 && tnow - last_prt > 20000000 ){
                       _interim_state.healthy = false;
-                      gcs().send_text(MAV_SEVERITY_INFO,"BATT_ERR:已经%d秒没有接收到智能电池 的串口数据！",(tnow-last_rev_batt_time)/1000000);
+                      gcs().send_text(MAV_SEVERITY_WARNING,"BATT_ERR:已经%d秒没有接收到智能电池的串口数据！",(tnow-last_rev_batt_time)/1000000);
                 last_prt = tnow;
             }
     }