gps 波特率还原，全新的GPS需要低的波特率初始化

ArduCopter/Parameters.cpp

@@ -1686,28 +1686,29 @@ const char* Copter::get_sysid_board_id(void)
     switch (type)
     {
         case 0:
-            snprintf(buf, sizeof(buf),  "Version: FL-v%u.%u.%u ,ID: RS100%04d%05d",AP::fwversion().major,AP::fwversion().minor,AP::fwversion().patch,(int)nameValue1,(int)nameValue2);
+            snprintf(buf, sizeof(buf),  "Version: FL-v%u.%u.%u ,ID: D100%04d%05d",AP::fwversion().major,AP::fwversion().minor,AP::fwversion().patch,(int)nameValue1,(int)nameValue2);
+           
             break;
         case 1:
-            snprintf(buf, sizeof(buf),  "Version: FL-v%u.%u.%u ,ID: M660%04d%05d",AP::fwversion().major,AP::fwversion().minor,AP::fwversion().patch,(int)nameValue1,(int)nameValue2);
+            snprintf(buf, sizeof(buf),  "Version: FL-v%u.%u.%u ,ID: RS100%04d%05d",AP::fwversion().major,AP::fwversion().minor,AP::fwversion().patch,(int)nameValue1,(int)nameValue2);
             break;
         case 2:
-            snprintf(buf, sizeof(buf),  "Version: FL-v%u.%u.%u ,ID: M610%04d%05d",AP::fwversion().major,AP::fwversion().minor,AP::fwversion().patch,(int)nameValue1,(int)nameValue2);
+            snprintf(buf, sizeof(buf),  "Version: FL-v%u.%u.%u ,ID: M660%04d%05d",AP::fwversion().major,AP::fwversion().minor,AP::fwversion().patch,(int)nameValue1,(int)nameValue2);
             break;
         case 3:
+            snprintf(buf, sizeof(buf),  "Version: FL-v%u.%u.%u ,ID: M610%04d%05d",AP::fwversion().major,AP::fwversion().minor,AP::fwversion().patch,(int)nameValue1,(int)nameValue2);
+            break;
+        case 4:
             // snprintf(buf, sizeof(buf),  "Version: FL-v4.0.10 ,Board ID: ZRZK.20QT2.%d",(int)nameValue2);
             snprintf(buf, sizeof(buf),  "Version: FL-v%u.%u.%u ,Board ID: ZRZK.%5s.%03d",AP::fwversion().major,AP::fwversion().minor,AP::fwversion().patch,name,(int)g.sysid_board_id);
 
             break;
-        case 4:
-            snprintf(buf, sizeof(buf),  "Version: FL-v%u.%u.%u ,Board ID: ZRZK.19QT2.%d",AP::fwversion().major,AP::fwversion().minor,AP::fwversion().patch,(int)nameValue2);
-            break;
-        case 5:
-            snprintf(buf, sizeof(buf),  "Version: FL-v%u.%u.%u ,Board ID: %04d%04d",AP::fwversion().major,AP::fwversion().minor,AP::fwversion().patch,(int)nameValue1,(int)nameValue2);
-            break;
-        case 6:
-            snprintf(buf, sizeof(buf),  "Version: FL-v%u.%u.%u ,ID: D100%04d%05d",AP::fwversion().major,AP::fwversion().minor,AP::fwversion().patch,(int)nameValue1,(int)nameValue2);
-            break;
+        // case 4:
+        //     snprintf(buf, sizeof(buf),  "Version: FL-v%u.%u.%u ,Board ID: ZRZK.19QT2.%d",AP::fwversion().major,AP::fwversion().minor,AP::fwversion().patch,(int)nameValue2);
+        //     break;
+        // case 5:
+        //     snprintf(buf, sizeof(buf),  "Version: FL-v%u.%u.%u ,Board ID: %04d%04d",AP::fwversion().major,AP::fwversion().minor,AP::fwversion().patch,(int)nameValue1,(int)nameValue2);
+        //     break;
         default:
             break;
     }

libraries/AP_GPS/AP_GPS.cpp

@@ -60,8 +60,8 @@
 extern const AP_HAL::HAL &hal;
 
 // baudrates to try to detect GPSes with
-// const uint32_t AP_GPS::_baudrates[] = {9600U, 115200U, 4800U, 19200U, 38400U, 57600U, 230400U};
-const uint32_t AP_GPS::_baudrates[] = { 115200U,  38400U, 57600U, 230400U};
+const uint32_t AP_GPS::_baudrates[] = {9600U, 115200U, 4800U, 19200U, 38400U, 57600U, 230400U};
+// const uint32_t AP_GPS::_baudrates[] = { 115200U,  38400U, 57600U, 230400U};
 
 // initialisation blobs to send to the GPS to try to get it into the
 // right mode

zr-v4.sh

@@ -1,3 +1,3 @@
 ./waf configure --board zr-v4
 ./waf copter
-cp ./build/zr-v4/bin/arducopter.apj  ~/flow-zrv4.1.13.px4
+cp ./build/zr-v4/bin/arducopter.apj  /mnt/f/_01-work/100\=data/固件/zr-v4/wsl/flow-zhdv4.1.13.px4