修正起飞高度(类型)

ArduCopter/Parameters.h

@@ -497,7 +497,7 @@ public:
     AP_Float                acro_balance_pitch;
     AP_Int8                  acro_trainer;
     AP_Float                acro_rp_expo;
-    AP_Int16                 zr_tk_req_alt;
+    AP_Int32                 zr_tk_req_alt;
     AP_Int16                 zr_tk_delay;
     AP_Int16                 zr_rtl_delay;
     // Note: keep initializers here in the same order as they are declared

ArduCopter/mode_auto.cpp

@@ -765,7 +765,10 @@ void ModeAuto::takeoff_run()
 {
     if (motors->armed() || copter.ap.auto_armed)
     {  
-            if (g.zr_tk_req_alt > 0 && copter.current_loc.alt >= g.zr_tk_req_alt 
+       int32_t alt_rev = 0;
+        if (copter.current_loc.get_alt_cm(Location::AltFrame::ABOVE_HOME, alt_rev))
+        {
+            if (g.zr_tk_req_alt > 0 && alt_rev >= g.zr_tk_req_alt 
             
                         && copter.updownStatus < UpDown_RequestClimb)
             {
@@ -783,8 +786,8 @@ void ModeAuto::takeoff_run()
                 }
              set_mode(Mode::Number::BRAKE, ModeReason::REQUEST_CMD);
             }            
-            else if (g.zr_tk_req_alt > 0 && copter.current_loc.alt  < g.zr_tk_req_alt 
-                     && copter.current_loc.alt  > 0 
+            else if (g.zr_tk_req_alt > 0 && alt_rev < g.zr_tk_req_alt 
+                     && alt_rev > 0 
                     &&(AP_HAL::millis()-last_time_send_updownload>500))
             {
                 last_time_send_updownload = AP_HAL::millis();
@@ -793,7 +796,8 @@ void ModeAuto::takeoff_run()
                 zr_flying_status_t.updown_status = copter.updownStatus;
                 zr_flying_status_t.countdown = 255;
                 gcs().update_zr_fly_status(&zr_flying_status_t);
-            }        
+            }     
+        }   
     }
     
     auto_takeoff_run();

modules/mavlink

@@ -1 +1 @@
-Subproject commit 18cab6950986cd7b9b7a507ec35f3501d4a7e019
+Subproject commit 4a6577557847fcb13f8bd9b7ebbe54f4a5a9f00e