Merge branch 'v4.0.4-dev-rc2-chinese' of zrzk.nzeg.top:zrzk/zr-v4 into v4.0.4-dev-rc3

ArduCopter/mode_auto.cpp

@@ -764,11 +764,9 @@ bool ModeAuto::verify_command(const AP_Mission::Mission_Command& cmd)
 void ModeAuto::takeoff_run()
 {
     if (motors->armed() || copter.ap.auto_armed)
-    {
-        int32_t alt_rev = 0;
-        if (copter.current_loc.get_alt_cm(Location::AltFrame::ABOVE_TERRAIN, alt_rev))
-        {
-            if (g.zr_tk_req_alt > 0 && alt_rev >= g.zr_tk_req_alt 
+    {  
+            if (g.zr_tk_req_alt > 0 && copter.current_loc.alt >= g.zr_tk_req_alt 
+            
                         && copter.updownStatus < UpDown_RequestClimb)
             {
                 copter.updownStatus = UpDown_RequestClimb;  
@@ -785,7 +783,8 @@ void ModeAuto::takeoff_run()
                 }
              set_mode(Mode::Number::BRAKE, ModeReason::REQUEST_CMD);
             }            
-            else if (g.zr_tk_req_alt > 0 && alt_rev < g.zr_tk_req_alt && alt_rev > 0 
+            else if (g.zr_tk_req_alt > 0 && copter.current_loc.alt  < g.zr_tk_req_alt 
+                     && copter.current_loc.alt  > 0 
                     &&(AP_HAL::millis()-last_time_send_updownload>500))
             {
                 last_time_send_updownload = AP_HAL::millis();
@@ -795,8 +794,8 @@ void ModeAuto::takeoff_run()
                 zr_flying_status_t.countdown = 255;
                 gcs().update_zr_fly_status(&zr_flying_status_t);
             }        
-        }
     }
+    
     auto_takeoff_run();
 }
 

libraries/AP_BattMonitor/AP_BattMonitor_Backend.cpp

@@ -268,9 +268,10 @@ bool AP_BattMonitor_Backend::cells_dropout_voltage_checks(uint8_t &cell_min_inde
     {
         uint16_t cell_min = 65535;
         uint16_t cell_max = 0;
-        for (int k = 0; k < MAVLINK_MSG_BATTERY_STATUS_FIELD_VOLTAGES_LEN; k++)
+        
+        for (int k = 0; k <_params._batt_cells_amount ; k++)//MAVLINK_MSG_BATTERY_STATUS_FIELD_VOLTAGES_LEN
         {           
-            if ((_state.cell_voltages.cells[k]!=65535))  //TODO  if valid cell valtage  =0
+            if (_state.cell_voltages.cells[k]!=65535)   //TODO  if valid cell valtage  =0
             {
                 if (_state.cell_voltages.cells[k] < cell_min)
                 {

libraries/AP_BattMonitor/AP_BattMonitor_Params.cpp

@@ -169,6 +169,8 @@ const AP_Param::GroupInfo AP_BattMonitor_Params::var_info[] = {
     // @Increment: 0.01
     // @User: Standard
     AP_GROUPINFO("DROPOUT_V", 20, AP_BattMonitor_Params, _arming_dropout_voltage, 0),
+
+    AP_GROUPINFO("CELL_TOTAL", 21, AP_BattMonitor_Params, _batt_cells_amount, 0),
     
     AP_GROUPEND
 

libraries/AP_BattMonitor/AP_BattMonitor_Params.h

@@ -57,4 +57,5 @@ public:
     AP_Int32 _arming_minimum_capacity;  /// capacity level required to arm
     AP_Float _arming_minimum_voltage;   /// voltage level required to arm
    AP_Float _arming_dropout_voltage;   /// voltage level required to arm
+   AP_Int8 _batt_cells_amount;   /// voltage level required to arm
 };