4.0.17-rc3 一些小调整

ArduCopter/Parameters.cpp

@@ -1719,6 +1719,9 @@ const char* Copter::get_sysid_board_id(void)
         case 8:
             snprintf(buf, sizeof(buf),  "Version: D100H-v%u.%u.%u ,ID: D100%04d%05d",AP::fwversion().major,AP::fwversion().minor,AP::fwversion().patch,(int)nameValue1,(int)nameValue2);
             break;
+        case 9:
+            snprintf(buf, sizeof(buf),  "Version: D100H-v%u.%u.%u ,ID: D300%04d%05d",AP::fwversion().major,AP::fwversion().minor,AP::fwversion().patch,(int)nameValue1,(int)nameValue2);
+            break;
         case 10:
             snprintf(buf, sizeof(buf),  "Version: zr-v%u.%u.%u ,ID: ZRZK.19QT2.%d",AP::fwversion().major,AP::fwversion().minor,AP::fwversion().patch,(int)nameValue2);
             break;

ArduCopter/mode_auto.cpp

@@ -443,7 +443,7 @@ bool ModeAuto::start_command(const AP_Mission::Mission_Command& cmd)
         break;
 
     case MAV_CMD_NAV_LOITER_TURNS:              //18 Loiter N Times
-        do_roi(cmd);
+        // do_roi(cmd);
         do_circle(cmd);
         break;
 

ArduCopter/zr_flight.cpp

@@ -97,7 +97,7 @@ void Copter::zr_SuperSlowLoop(){
             }
         }
     }
-    if(control_mode != Mode::Number::AUTO && control_mode != Mode::Number::RTL){
+    if(control_mode != Mode::Number::CIRCLE && control_mode != Mode::Number::AUTO && control_mode != Mode::Number::RTL){
         circle_nav->parm_reset();
     }
 }
@@ -202,6 +202,9 @@ uint8_t Copter::avoid_area_detect(float dist)
     else {
         area = PROXY_OUTRANGE;
     }
+    if(proxy_area != area){
+        gcs().send_text(MAV_SEVERITY_INFO, "proxy_area:%d",area);
+    }
     proxy_area = area;
     return area;
 }

all.sh

@@ -1,20 +1,39 @@
-./waf configure --board rs100
-./waf clean
-./waf copter
-cp ./build/rs100/bin/arducopter.apj  /mnt/f/_01-work/100\=data/固件/zr-v4/wsl/致睿rs100-v4.0.16-RC8.px4
-./waf configure --board rs100h
-./waf clean
-./waf copter
-cp ./build/rs100h/bin/arducopter.apj  /mnt/f/_01-work/100\=data/固件/zr-v4/wsl/致睿rs100h-v4.0.16-RC8.px4
-./waf configure --board d100
-./waf clean
-./waf copter
-cp ./build/d100/bin/arducopter.apj  /mnt/f/_01-work/100\=data/固件/zr-v4/wsl/中海达d100-v4.0.16-RC8.px4
-./waf configure --board d100h
-./waf clean
-./waf copter
-cp ./build/d100h/bin/arducopter.apj  /mnt/f/_01-work/100\=data/固件/zr-v4/wsl/中海达d100h-v4.0.16-RC8.px4
-./waf configure --board zr-hexa
-./waf clean
-./waf copter
-cp ./build/zr-hexa/bin/arducopter.apj  /mnt/f/_01-work/100\=data/固件/zr-v4/wsl/六轴m66-v4.0.16-RC8.px4
+echo "build firmware "
+date -R
+starttime=`date +'%Y-%m-%d %H:%M:%S'`
+
+
+./waf configure --board rs100 > build_log.txt
+# ./waf clean >> build_log.txt
+./waf copter >> build_log.txt
+cp ./build/rs100/bin/arducopter.apj  /mnt/f/_01-work/100\=data/固件/编译/致睿rs100-v4.0.17-RC3.px4
+echo "finish build rs100 "
+./waf configure --board rs100h >> build_log.txt
+# ./waf clean >> build_log.txt
+./waf copter >> build_log.txt
+cp ./build/rs100h/bin/arducopter.apj  /mnt/f/_01-work/100\=data/固件/编译/致睿rs100h-v4.0.17-RC3.px4
+echo "finish build rs100h "
+
+./waf configure --board d100 >> build_log.txt
+# ./waf clean >> build_log.txt
+./waf copter >> build_log.txt
+cp ./build/d100/bin/arducopter.apj  /mnt/f/_01-work/100\=data/固件/编译/中海达d100-v4.0.17-RC3.px4
+echo "finish build d100 "
+
+./waf configure --board d100h >> build_log.txt
+# ./waf clean >> build_log.txt
+./waf copter >> build_log.txt
+cp ./build/d100h/bin/arducopter.apj  /mnt/f/_01-work/100\=data/固件/编译/中海达d100h-v4.0.17-RC3.px4
+echo "finish build d100h "
+
+./waf configure --board zr-hexa >> build_log.txt
+# ./waf clean >> build_log.txt
+./waf copter >> build_log.txt
+cp ./build/zr-hexa/bin/arducopter.apj  /mnt/f/_01-work/100\=data/固件/编译/六轴m66-v4.0.17-RC3.px4
+echo "finish build zr-hexa "
+
+endtime=`date +'%Y-%m-%d %H:%M:%S'`
+date -R
+start_seconds=$(date --date="$starttime" +%s);
+end_seconds=$(date --date="$endtime" +%s);
+echo "finish build： "$((end_seconds-start_seconds))"s" 

libraries/AP_Proximity/AP_Proximity_UAVCAN.cpp

@@ -130,7 +130,7 @@ AP_Proximity_UAVCAN *AP_Proximity_UAVCAN::get_uavcan_backend(AP_UAVCAN *ap_uavca
 
 float AP_Proximity_UAVCAN::distance_max() const
 {
-    return 60.0f;
+    return 40.0f;
 }
 
 float AP_Proximity_UAVCAN::distance_min() const