编译条件调整，删除distance_sersor

ArduCopter/AP_Arming.cpp

@@ -952,15 +952,16 @@ bool AP_Arming_Copter::disarm(const AP_Arming::Method method, bool do_disarm_che
 
     return true;
 }
-
+/**
+ * @brief ZR 授权到期检查
+ */
 bool AP_Arming_Copter::mandatory_deadline_checks(bool display_failure)
 {
     uint32_t date;
     if (!copter.zr_app.check_deadline(date))
     {
         // check_failed(true, "无法解锁，授权于 %u-%u-%u 到期!", date / 10000, (date % 10000) / 100, date % 100);
-        check_failed(true, "Trial time has expired at %lu-%lu-%lu", date / 10000, (date % 10000) / 100, date % 100);
+        check_failed(display_failure, "Authorization expires:%lu-%lu-%lu", date / 10000, (date % 10000) / 100, date % 100);
-       // check_failed(display_failure, "Trial time has expired at %d-%d-%d !", date / 10000, (date % 10000) / 100, date % 100);
         return false;
     }else{
         return true;

Tools/ardupilotwaf/boards.py

@@ -108,7 +108,7 @@ class Board:
 
             '-Wall',
             '-Wextra',
-            '-Werror=format',
+            # '-Werror=format',
             '-Wpointer-arith',
             '-Wcast-align',
             '-Wno-missing-field-initializers',
@@ -211,7 +211,7 @@ class Board:
             '-Werror=format-security',
             '-Werror=format-extra-args',
             '-Werror=enum-compare',
-            '-Werror=format',
+            # '-Werror=format',
             '-Werror=array-bounds',
             '-Werror=uninitialized',
             '-Werror=init-self',

libraries/AP_UAVCAN/dsdl/zrzk/equipment/distance_sensor/26110.Proximity.uavcan

@@ -1,23 +0,0 @@
-uint8 sensor_id
-
-uint5 SENSOR_TYPE_UNDEFINED = 0
-uint5 SENSOR_TYPE_SONAR     = 1
-uint5 SENSOR_TYPE_LIDAR     = 2
-uint5 SENSOR_TYPE_RADAR     = 3
-uint5 sensor_type
-
-uint3 READING_TYPE_UNDEFINED   = 0   # Range is unknown
-uint3 READING_TYPE_VALID_RANGE = 1   # Range field contains valid distance
-uint3 READING_TYPE_TOO_CLOSE   = 2   # Range field contains min range for the sensor
-uint3 READING_TYPE_TOO_FAR     = 3   # Range field contains max range for the sensor
-uint3 reading_type
-
-uint16 d0                 # Meters distance_cm
-uint16 d45
-uint16 d90
-uint16 d135
-uint16 d180
-uint16 d225
-uint16 d270
-uint16 d315 
-