修正到期时间日可用，oid空格更改，getvistion返回oid

ArduCopter/AP_Arming.cpp

@@ -460,15 +460,15 @@ bool AP_Arming_Copter::mandatory_deadline_checks(bool display_failure)
         return true;
     if (!copter.deadline_ok())
     {
-        //const AP_AHRS_NavEKF &ahrs = AP::ahrs_navekf();
-     //   const char *reason = ahrs.prearm_failure_reason();
         int32_t deadline = 0;
         copter.get_deadline_params(deadline);
-        //  sprintf(temp,"time is up at  %d-%d-%d ", deadline / 10000, (deadline % 10000) / 100, deadline % 100);
-
-       // reason = "Trial time has expired!";
-        gcs().send_text(MAV_SEVERITY_INFO, "无法解锁，无人机授权于%d-%d-%d到期!", deadline / 10000, (deadline % 10000) / 100, deadline % 100);
-        check_failed(display_failure, "Trial time has expired at %d-%d-%d !", deadline / 10000, (deadline % 10000) / 100, deadline % 100);
+        if(deadline ==20200101)
+        {
+            check_failed(true, "无法解锁，授权码错误!");
+        }else{ 
+            check_failed(true, "无法解锁，授权于%d-%d-%d到期!", deadline / 10000, (deadline % 10000) / 100, deadline % 100);
+        }
+       // check_failed(display_failure, "Trial time has expired at %d-%d-%d !", deadline / 10000, (deadline % 10000) / 100, deadline % 100);
         return false;
     }else{
         return true;
@@ -500,11 +500,11 @@ bool AP_Arming_Copter::mandatory_gps_checks(bool display_failure)
     #endif
 
     // return true if GPS is not required
-    if (!mode_requires_gps && !fence_requires_gps)
-    {
-     return    mandatory_deadline_checks(display_failure);
-       // return true;
-    }
+    // if (!mode_requires_gps && !fence_requires_gps)
+    // {
+    //  return    mandatory_deadline_checks(display_failure);
+    //    // return true;
+    // }
 
     // ensure GPS is ok
     if (!copter.position_ok()) {
@@ -520,23 +520,10 @@ bool AP_Arming_Copter::mandatory_gps_checks(bool display_failure)
         check_failed(display_failure, "%s", reason);
         return false;
     }
-     else
-    {
-        return mandatory_deadline_checks(display_failure);
-    //     if (!copter.deadline_ok())
-    //     {
-    //         const char *reason = ahrs.prearm_failure_reason();
-    //         //char * temp =nullptr;
-    //         int32_t deadline = 0;
-    //         copter.get_deadline_params(deadline);
-    //      //  sprintf(temp,"time is up at  %d-%d-%d ", deadline / 10000, (deadline % 10000) / 100, deadline % 100);
-            
-    //         reason ="Trial time has expired!";
-    //        // gcs().send_text(MAV_SEVERITY_INFO, "无法解锁，您的无人机授权已于%d-%d-%d到期", deadline / 10000, (deadline % 10000) / 100, deadline % 100);
-    //         check_failed(display_failure, "%s", reason);
-    //         return false;
-    //     }
-    }
+    //  else
+    // {
+    //     return mandatory_deadline_checks(display_failure);
+    // }
 
     // check for GPS glitch (as reported by EKF)
     nav_filter_status filt_status;
@@ -593,6 +580,13 @@ bool AP_Arming_Copter::arm_checks(AP_Arming::Method method)
     }
 #endif
 
+   //arm if  Trial time is not arrived  add@bnsir
+
+if( !mandatory_deadline_checks(false)){
+            return false;
+}
+
+
     Mode::Number control_mode = copter.control_mode;
 
     // always check if the current mode allows arming
@@ -832,7 +826,6 @@ bool AP_Arming_Copter::disarm()
 #endif
 
     AP_AHRS_NavEKF &ahrs = AP::ahrs_navekf();
-
     // save compass offsets learned by the EKF if enabled
     Compass &compass = AP::compass();
     if (ahrs.use_compass() && compass.get_learn_type() == Compass::LEARN_EKF) {

ArduCopter/Parameters.cpp

@@ -1629,16 +1629,16 @@ const char* Copter::get_sysid_board_id(void)
 
      int32_t nameValue1 =(int32_t) g.sysid_board_name_1st;
      int32_t nameValue2 = (int32_t)g.sysid_board_name_2nd;   
-     char  name[6] ;   
-    //  memset(name,0,6);
+     char  name[7] ;   
+     memset(name,0,7);
      //nameValue2 = nameValue2 & 0xffffff;
-    //  name[5] = "a";
+     name[5] = '.';
      name[4] = nameValue2&0xFF;
      name[3] = nameValue2>>8&0xFF; 
      name[2] = nameValue2>>16& 0xFF;   
      name[1] = nameValue1&0xFF; 
      name[0] = nameValue1>>8 & 0xFF;  
-    snprintf(buf, sizeof(buf),  "Version: zr-v4.0 ,Board ID: ZRZK.%s.%d",name,(int)g.sysid_board_id);
+    snprintf(buf, sizeof(buf),  "Version: zr-v4.0 ,Board ID: ZRZK.%5s%d",name,(int)g.sysid_board_id);
     return buf;
 }
 

ArduCopter/system.cpp

@@ -340,7 +340,7 @@ bool Copter::deadline_ok()
     copter.get_deadline_params(deadline);
     int32_t gps_date =0;
      AP::gps().get_gps_headline_value(gps_date);
-    if ((deadline - gps_date) > 0)
+    if ((deadline - gps_date) >= 0)
     {
         return true;
     }

libraries/GCS_MAVLink/GCS_Common.cpp

@@ -3255,6 +3255,7 @@ void GCS_MAVLINK::handle_common_mission_message(const mavlink_message_t &msg)
 void GCS_MAVLINK::handle_send_autopilot_version(const mavlink_message_t &msg)
 {
     send_message(MSG_AUTOPILOT_VERSION);
+    send_banner();
 }
 
 void GCS_MAVLINK::send_banner()