From 5f6e25b0374b24823fbe1763e02c0356e6e57567 Mon Sep 17 00:00:00 2001
From: zbr3550 <zbr3550@sina.com>
Date: Sat, 8 Aug 2020 19:16:10 +0800
Subject: [PATCH] backup commit, rgbled close

---
 ArduCopter/Parameters.cpp                   |  8 ++++----
 ArduCopter/version.h                        |  4 ++--
 libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp |  8 +++++---
 libraries/AP_Notify/RGBLed.cpp              | 16 ++++++++++++++--
 4 files changed, 25 insertions(+), 11 deletions(-)

diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index 2d7e3e556c..0faeee1c45 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -1663,16 +1663,16 @@ const char* Copter::get_sysid_board_id(void)
     switch (type)
     {
         case 0:
-            snprintf(buf, sizeof(buf),  "Version: zr-v4.0.4 ,ID: RS100%04d%05d",(int)nameValue1,(int)nameValue2);
+            snprintf(buf, sizeof(buf),  "Version: zr-v4.0.5 ,ID: RS100%04d%05d",(int)nameValue1,(int)nameValue2);
             break;
         case 1:
-            snprintf(buf, sizeof(buf),  "Version: zr-v4.0.4 ,ID: M660%04d%05d",(int)nameValue1,(int)nameValue2);
+            snprintf(buf, sizeof(buf),  "Version: zr-v4.0.5 ,ID: M660%04d%05d",(int)nameValue1,(int)nameValue2);
             break;
         case 2:
-            snprintf(buf, sizeof(buf),  "Version: zr-v4.0.4 ,ID: RF610%04d%05d",(int)nameValue1,(int)nameValue2);
+            snprintf(buf, sizeof(buf),  "Version: zr-v4.0.5 ,ID: RF610%04d%05d",(int)nameValue1,(int)nameValue2);
             break;
         case 3:
-            snprintf(buf, sizeof(buf),  "Version: zr-v4.0.4 ,Board ID: ZRZK.20QT2.%d",(int)nameValue2);
+            snprintf(buf, sizeof(buf),  "Version: zr-v4.0.5 ,Board ID: ZRZK.20QT2.%d",(int)nameValue2);
             break;
         
         default:
diff --git a/ArduCopter/version.h b/ArduCopter/version.h
index 708a6f9cb0..45a66486ef 100644
--- a/ArduCopter/version.h
+++ b/ArduCopter/version.h
@@ -6,10 +6,10 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ZRUAV v4.0.4-rc1.2"  //"ArduCopter V4.0.0"
+#define THISFIRMWARE "ZRUAV v4.0.5-rc1"  //"ArduCopter V4.0.0"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,0,4,FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FIRMWARE_VERSION 4,0,5,FIRMWARE_VERSION_TYPE_OFFICIAL
 
 #define FW_MAJOR 4
 #define FW_MINOR 0
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
index 8a6f22d6bc..4db442e0b1 100644
--- a/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
@@ -266,7 +266,7 @@ void NavEKF2_core::setAidingMode()
         switch (PV_AidingMode) {
         case AID_NONE:
             // We have ceased aiding
-            gcs().send_text(MAV_SEVERITY_WARNING, "EKF2 IMU%u 停止协助",(unsigned)imu_index);//EKF2 IMU%u has stopped aiding
+            gcs().send_text(MAV_SEVERITY_WARNING, "EKF2 IMU%u 停止定位",(unsigned)imu_index);//EKF2 IMU%u has stopped aiding
             // When not aiding, estimate orientation & height fusing synthetic constant position and zero velocity measurement to constrain tilt errors
             posTimeout = true;
             velTimeout = true;            
@@ -285,7 +285,8 @@ void NavEKF2_core::setAidingMode()
 
         case AID_RELATIVE:
             // We have commenced aiding, but GPS usage has been prohibited so use optical flow only
-            gcs().send_text(MAV_SEVERITY_INFO, "EKF2 IMU%u is using optical flow",(unsigned)imu_index);
+            // gcs().send_text(MAV_SEVERITY_INFO, "NOTICE：光流定位成功",(unsigned)imu_index); // EKF2 IMU%u is using optical flow
+            gcs().send_text(MAV_SEVERITY_INFO, "NOTICE：光流定位成功"); // EKF2 IMU%u is using optical flow
             posTimeout = true;
             velTimeout = true;
             // Reset the last valid flow measurement time
@@ -300,7 +301,8 @@ void NavEKF2_core::setAidingMode()
             bool canUseExtNav = readyToUseExtNav();
             // We have commenced aiding and GPS usage is allowed
             if (canUseGPS) {
-                gcs().send_text(MAV_SEVERITY_INFO, "EKF2 IMU%u is using GPS",(unsigned)imu_index);
+                // gcs().send_text(MAV_SEVERITY_INFO, "NOTICE：GPS定位成功",(unsigned)imu_index); // EKF2 IMU%u is using GPS
+                gcs().send_text(MAV_SEVERITY_INFO, "NOTICE：GPS定位成功"); // EKF2 IMU%u is using GPS
             }
             posTimeout = false;
             velTimeout = false;
diff --git a/libraries/AP_Notify/RGBLed.cpp b/libraries/AP_Notify/RGBLed.cpp
index d520867cf5..1e8d7e4e49 100644
--- a/libraries/AP_Notify/RGBLed.cpp
+++ b/libraries/AP_Notify/RGBLed.cpp
@@ -215,7 +215,7 @@ void RGBLed::get_colour_ws2812(void)
         set_rgb_mode(1);
         return;
     }
-
+    static uint16_t arm_delay_cnt;
     // solid green or blue if armed
     if (AP_Notify::flags.armed) {
         // solid green if armed with GPS 3d lock
@@ -227,11 +227,23 @@ void RGBLed::get_colour_ws2812(void)
         }
         // solid blue if armed with no GPS lock
         // return sequence_armed_nogps;
-            _red_ws = _led_off;
+        else{    _red_ws = _led_off;
             _blue_ws = _led_medium;
             _green_ws = _led_medium;
+            set_rgb_mode(0);}
+        
+        if(arm_delay_cnt>500){
+             _red_ws = _led_off;
+            _blue_ws = _led_off;
+            _green_ws = _led_off;
             set_rgb_mode(0);
+        }else{
+           arm_delay_cnt+=1;
+
+        }
         return;
+    }else{
+        arm_delay_cnt = 0;
     }
 
     // double flash yellow if failing pre-arm checks