zr-dev-4.0.16 避障状态改静态

3 years ago · 714f9f4d48
3 changed files with 3 additions and 3 deletions
--- a/ArduCopter/version.h
+++ b/ArduCopter/version.h
@ -6,7 +6,7 @@
				@@ -6,7 +6,7 @@

 #include "ap_version.h"

-#define THISFIRMWARE "ZRUAV v4.0.16-RC3"  //"ArduCopter V4.0.0"
+#define THISFIRMWARE "ZRUAV v4.0.16-RC4"  //"ArduCopter V4.0.0"

 // the following line is parsed by the autotest scripts
 #define FIRMWARE_VERSION 4,0,16,FIRMWARE_VERSION_TYPE_OFFICIAL
--- a/ArduCopter/zr_flight.cpp
+++ b/ArduCopter/zr_flight.cpp
@ -169,7 +169,7 @@ void Copter::do_avoid_action(){
				@@ -169,7 +169,7 @@ void Copter::do_avoid_action(){

 uint8_t Copter::avoid_area_detect(float dist)
 {
-    Proxy_Area area = PROXY_OUTRANGE;;
+    static Proxy_Area area = PROXY_OUTRANGE;
    if(dist < avoid.get_zr_avd_min()){
        if(area != PROXY_TOO_CLOSE && area != PROXY_FIND_BARRIER){  // 前一个状态不是障碍物过近
            area = PROXY_OUTRANGE;
--- a/modules/mavlink
+++ b/modules/mavlink
@ -1 +1 @@
				@@ -1 +1 @@
-Subproject commit 5fc095d17043557589ecc6a28d62fb234081fc87
+Subproject commit 72b407db3991ed74631fa59a5e826615f569819f