zrzk
/
zr-v4
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

backup commit, rgbled close

master
zbr3550 5 years ago
parent
617284987b
commit
5f6e25b037
4 changed files with 25 additions and 11 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Unified View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 8
      ArduCopter/Parameters.cpp
  2. 4
      ArduCopter/version.h
  3. 8
      libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
  4. 16
      libraries/AP_Notify/RGBLed.cpp

8
ArduCopter/Parameters.cpp
Unescape View File

@ -1663,16 +1663,16 @@ const char* Copter::get_sysid_board_id(void)
switch (type) switch (type)
{ {
case 0: 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; break;
case 1: 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; break;
case 2: 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; break;
case 3: 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; break;
default: default:

4
ArduCopter/version.h
Unescape View File

@ -6,10 +6,10 @@
#include "ap_version.h" #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 // 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_MAJOR 4
#define FW_MINOR 0 #define FW_MINOR 0

8
libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
Unescape View File

@ -266,7 +266,7 @@ void NavEKF2_core::setAidingMode()
switch (PV_AidingMode) { switch (PV_AidingMode) {
case AID_NONE: case AID_NONE:
// We have ceased aiding // 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 // When not aiding, estimate orientation & height fusing synthetic constant position and zero velocity measurement to constrain tilt errors
posTimeout = true; posTimeout = true;
velTimeout = true; velTimeout = true;
@ -285,7 +285,8 @@ void NavEKF2_core::setAidingMode()
case AID_RELATIVE: case AID_RELATIVE:
// We have commenced aiding, but GPS usage has been prohibited so use optical flow only // 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; posTimeout = true;
velTimeout = true; velTimeout = true;
// Reset the last valid flow measurement time // Reset the last valid flow measurement time
@ -300,7 +301,8 @@ void NavEKF2_core::setAidingMode()
bool canUseExtNav = readyToUseExtNav(); bool canUseExtNav = readyToUseExtNav();
// We have commenced aiding and GPS usage is allowed // We have commenced aiding and GPS usage is allowed
if (canUseGPS) { 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; posTimeout = false;
velTimeout = false; velTimeout = false;

16
libraries/AP_Notify/RGBLed.cpp
Unescape View File

@ -215,7 +215,7 @@ void RGBLed::get_colour_ws2812(void)
set_rgb_mode(1); set_rgb_mode(1);
return; return;
} }
static uint16_t arm_delay_cnt;
// solid green or blue if armed // solid green or blue if armed
if (AP_Notify::flags.armed) { if (AP_Notify::flags.armed) {
// solid green if armed with GPS 3d lock // 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 // solid blue if armed with no GPS lock
// return sequence_armed_nogps; // return sequence_armed_nogps;
_red_ws = _led_off; else{ _red_ws = _led_off;
_blue_ws = _led_medium; _blue_ws = _led_medium;
_green_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); set_rgb_mode(0);
}else{
arm_delay_cnt+=1;
}
return; return;
}else{
arm_delay_cnt = 0;
} }
// double flash yellow if failing pre-arm checks // double flash yellow if failing pre-arm checks

Write Preview
Loading…
Cancel
Save