From 9cc70f84c6e9a25a0c4cb687d0a1b4936f65b8b4 Mon Sep 17 00:00:00 2001
From: z <zbr3550@sina.com>
Date: Sat, 25 Jul 2020 09:56:24 +0800
Subject: [PATCH] battgo,arming,flow

---
 ArduCopter/AP_Arming.cpp                    | 2 +-
 ArduCopter/Parameters.cpp                   | 8 ++++----
 ArduCopter/UserCode.cpp                     | 2 +-
 libraries/AP_BattMonitor/AP_BattMonitor.cpp | 3 ++-
 libraries/AP_OpticalFlow/OpticalFlow.cpp    | 9 ++-------
 5 files changed, 10 insertions(+), 14 deletions(-)

diff --git a/ArduCopter/AP_Arming.cpp b/ArduCopter/AP_Arming.cpp
index 490ae975af..9572aa8a03 100644
--- a/ArduCopter/AP_Arming.cpp
+++ b/ArduCopter/AP_Arming.cpp
@@ -457,7 +457,7 @@ bool AP_Arming_Copter::mandatory_deadline_checks(bool display_failure)
 {
    const AP_GPS &gps   =  AP::gps();
     if(gps.status()<2)
-        return false;
+        return true;
     if (!copter.deadline_ok())
     {
         int32_t deadline = 0;
diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index 72fe42b54f..bf6c0b2074 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -1637,16 +1637,16 @@ const char* Copter::get_sysid_board_id(void)
     switch (type)
     {
         case 0:
-            snprintf(buf, sizeof(buf),  "Version: zr-v4.0.3 ,ID: RS100%04d%05d",(int)nameValue1,(int)nameValue2);
+            snprintf(buf, sizeof(buf),  "Version: zr-v4.0.4 ,ID: RS100%04d%05d",(int)nameValue1,(int)nameValue2);
             break;
         case 1:
-            snprintf(buf, sizeof(buf),  "Version: zr-v4.0.3 ,ID: M660%04d%05d",(int)nameValue1,(int)nameValue2);
+            snprintf(buf, sizeof(buf),  "Version: zr-v4.0.4 ,ID: M660%04d%05d",(int)nameValue1,(int)nameValue2);
             break;
         case 2:
-            snprintf(buf, sizeof(buf),  "Version: zr-v4.0.3 ,ID: RF610%04d%05d",(int)nameValue1,(int)nameValue2);
+            snprintf(buf, sizeof(buf),  "Version: zr-v4.0.4 ,ID: RF610%04d%05d",(int)nameValue1,(int)nameValue2);
             break;
         case 3:
-            snprintf(buf, sizeof(buf),  "Version: zr-v4.0.3 ,Board ID: ZRZK.20QT2.%d",(int)nameValue2);
+            snprintf(buf, sizeof(buf),  "Version: zr-v4.0.4 ,Board ID: ZRZK.20QT2.%d",(int)nameValue2);
             break;
         
         default:
diff --git a/ArduCopter/UserCode.cpp b/ArduCopter/UserCode.cpp
index 61f188b81f..0331ee2f3e 100644
--- a/ArduCopter/UserCode.cpp
+++ b/ArduCopter/UserCode.cpp
@@ -94,7 +94,7 @@ void Copter::userhook_SuperSlowLoop()
                 break;
         }
         cacl_volt_pst = 100 - cnt;
-        battery.reset_remaining(1, cacl_volt_pst);
+        battery.reset_remaining(0, cacl_volt_pst);
     } 
 }
 #endif
diff --git a/libraries/AP_BattMonitor/AP_BattMonitor.cpp b/libraries/AP_BattMonitor/AP_BattMonitor.cpp
index 1d2f9d91b4..23fb9c9a2e 100644
--- a/libraries/AP_BattMonitor/AP_BattMonitor.cpp
+++ b/libraries/AP_BattMonitor/AP_BattMonitor.cpp
@@ -147,7 +147,8 @@ AP_BattMonitor::init()
                 drivers[instance] = new AP_BattMonitor_FuelLevel_PWM(*this, state[instance], _params[instance]);
                 break;
                 case AP_BattMonitor_Params::BattMonitor_Serial_BattGo:
-                drivers[instance] = new AP_BattMonitor_Serial_BattGo(*this, state[instance], _params[instance],instance);//TODO 
+                // drivers[instance] = new AP_BattMonitor_Serial_BattGo(*this, state[instance], _params[instance],instance);//TODO 
+                drivers[instance] = new AP_BattMonitor_Serial_BattGo(*this, state[instance], _params[instance],0);//TODO 
                 break;
             case AP_BattMonitor_Params::BattMonitor_TYPE_NONE:
             default:
diff --git a/libraries/AP_OpticalFlow/OpticalFlow.cpp b/libraries/AP_OpticalFlow/OpticalFlow.cpp
index 7a30fae80f..7c6edc9ef5 100644
--- a/libraries/AP_OpticalFlow/OpticalFlow.cpp
+++ b/libraries/AP_OpticalFlow/OpticalFlow.cpp
@@ -168,7 +168,7 @@ void OpticalFlow::update(void)
 
     // only healthy if the data is less than 0.5s old
     // _flags.healthy = (AP_HAL::millis() - _last_update_ms < 500);
-    _flags.healthy = (AP_HAL::millis() - _last_update_ms < 500)&&(_state.surface_quality < _threshold);
+    _flags.healthy = (AP_HAL::millis() - _last_update_ms < 500)&&(_state.surface_quality > _threshold);
 }
 
 void OpticalFlow::handle_msg(const mavlink_message_t &msg)
@@ -182,17 +182,12 @@ void OpticalFlow::handle_msg(const mavlink_message_t &msg)
         backend->handle_msg(msg);
     }
 }
-#include <GCS_MAVLink/GCS.h>
+
 void OpticalFlow::update_state(const OpticalFlow_state &state)
 {
     _state = state;
     _last_update_ms = AP_HAL::millis();
 
-    // static uint8_t last_quaty;
-    // if(abs(last_quaty - _state.surface_quality)> 30){
-    //     last_quaty = _state.surface_quality;
-    //     gcs().send_text(MAV_SEVERITY_INFO,"thr:%d,q:%d",_threshold,_state.surface_quality);
-    // }
     if(_state.surface_quality < _threshold )
     {
         _state.surface_quality = 0;