Merge branch 'zr-v4.0.4-dev' of zrzk.nzeg.top:zrzk/zr-v4 into zr-v4.0.4-dev

ArduCopter/AP_Arming.cpp

@@ -30,6 +30,8 @@ bool AP_Arming_Copter::run_pre_arm_checks(bool display_failure)
     if (copter.motors->armed()) {
         return true;
     }
+    if(AP_Arming::get_enabled_checks() == 0)
+        return true;
     
     // check if motor interlock and Emergency Stop aux switches are used
     // at the same time.  This cannot be allowed.
@@ -368,7 +370,7 @@ bool AP_Arming_Copter::gps_checks(bool display_failure)
 
     // warn about hdop separately - to prevent user confusion with no gps lock
     if (copter.gps.get_hdop() > copter.g.gps_hdop_good) {
-        check_failed(ARMING_CHECK_GPS, display_failure, "High GPS HDOP");
+        check_failed(ARMING_CHECK_GPS, display_failure, "High GPS HDOP %d (need %d)",copter.gps.get_hdop(),copter.g.gps_hdop_good);
         AP_Notify::flags.pre_arm_gps_check = false;
         return false;
     }

ArduCopter/UserCode.cpp

@@ -84,7 +84,10 @@ void Copter::userhook_SuperSlowLoop()
     static bool before_fly = true;
     if(motors->armed()){
         before_fly = false;
+        relay.on(3);
+
     }else{
+        relay.off(3);
         updownStatus =UpDown_TakeOffStart;
         mavlink_zr_flying_status_t  zr_flying_status_t; 
         zr_flying_status_t.updown_status = updownStatus;
@@ -101,8 +104,9 @@ void Copter::userhook_SuperSlowLoop()
                 break;
         }
         cacl_volt_pst = 100 - cnt;
-        battery.reset_remaining(0, cacl_volt_pst);
+        battery.reset_remaining(1, cacl_volt_pst);
     } 
+
 }
 #endif
 

ArduCopter/version.h

@@ -6,7 +6,7 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ZRUAV v4.0.4"  //"ArduCopter V4.0.0"
+#define THISFIRMWARE "ZRUAV v4.0.4-rc1.0"  //"ArduCopter V4.0.0"
 
 // the following line is parsed by the autotest scripts
 #define FIRMWARE_VERSION 4,0,4,FIRMWARE_VERSION_TYPE_OFFICIAL

git_submodule.sh

@@ -0,0 +1,8 @@
+date -R
+starttime=`date +'%Y-%m-%d %H:%M:%S'`
+proxychains git submodule update --init --recursive
+endtime=`date +'%Y-%m-%d %H:%M:%S'`
+date -R
+start_seconds=$(date --date="$starttime" +%s);
+end_seconds=$(date --date="$endtime" +%s);
+echo "本次运行时间： "$((end_seconds-start_seconds))"s" 

libraries/AP_GPS/AP_GPS.cpp

@@ -282,6 +282,9 @@ const AP_Param::GroupInfo AP_GPS::var_info[] = {
     // @Range: 5.0 30.0
     // @User: Advanced
     AP_GROUPINFO("BLEND_TC", 21, AP_GPS, _blend_tc, 10.0f),
+
+    AP_GROUPINFO("NUM_SW", 22, AP_GPS, _nunber_to_switch, 5),
+
 #endif
 
     AP_GROUPEND
@@ -782,7 +785,7 @@ void AP_GPS::update(void)
                 for (uint8_t i=1; i<GPS_MAX_RECEIVERS; i++) {
                     // choose GPS with highest state or higher number of satellites
                     if ((state[i].status > state[primary_instance].status) ||
-                        ((state[i].status == state[primary_instance].status) && (state[i].num_sats > state[primary_instance].num_sats))) {
+                        ((state[i].status == state[primary_instance].status) && (state[i].num_sats > state[primary_instance].num_sats  + _nunber_to_switch))) {
                         primary_instance = i;
                         _last_instance_swap_ms = now;
                     }
@@ -800,11 +803,11 @@ void AP_GPS::update(void)
                         continue;
                     }
 
-                    bool another_gps_has_1_or_more_sats = (state[i].num_sats >= state[primary_instance].num_sats + 1);
+                    bool another_gps_has_1_or_more_sats = (state[i].num_sats >= state[primary_instance].num_sats  + _nunber_to_switch);
 
                     if (state[i].status == state[primary_instance].status && another_gps_has_1_or_more_sats) {
 
-                        bool another_gps_has_2_or_more_sats = (state[i].num_sats >= state[primary_instance].num_sats + 2);
+                        bool another_gps_has_2_or_more_sats = (state[i].num_sats >= state[primary_instance].num_sats  + _nunber_to_switch + 2);
 
                         if ((another_gps_has_1_or_more_sats && (now - _last_instance_swap_ms) >= 20000) ||
                             (another_gps_has_2_or_more_sats && (now - _last_instance_swap_ms) >= 5000)) {

libraries/AP_GPS/AP_GPS.h

@@ -458,6 +458,7 @@ protected:
     AP_Int16 _delay_ms[GPS_MAX_RECEIVERS];
     AP_Int8 _blend_mask;
     AP_Float _blend_tc;
+    AP_Int8 _nunber_to_switch;
 
     uint32_t _log_gps_bit = -1;
 

libraries/AP_GPS/AP_GPS_UBLOX.cpp

@@ -1024,7 +1024,8 @@ AP_GPS_UBLOX::_parse_gps(void)
         if (_buffer.status.fix_status & NAV_STATUS_FIX_VALID) {
             if( (_buffer.status.fix_type == AP_GPS_UBLOX::FIX_3D) &&
                 (_buffer.status.fix_status & AP_GPS_UBLOX::NAV_STATUS_DGPS_USED)) {
-                next_fix = AP_GPS::GPS_OK_FIX_3D_DGPS;
+                // next_fix = AP_GPS::GPS_OK_FIX_3D_DGPS;
+                next_fix = AP_GPS::GPS_OK_FIX_3D;
             }else if( _buffer.status.fix_type == AP_GPS_UBLOX::FIX_3D) {
                 next_fix = AP_GPS::GPS_OK_FIX_3D;
             }else if (_buffer.status.fix_type == AP_GPS_UBLOX::FIX_2D) {
@@ -1065,7 +1066,8 @@ AP_GPS_UBLOX::_parse_gps(void)
         if (_buffer.solution.fix_status & NAV_STATUS_FIX_VALID) {
             if( (_buffer.solution.fix_type == AP_GPS_UBLOX::FIX_3D) &&
                 (_buffer.solution.fix_status & AP_GPS_UBLOX::NAV_STATUS_DGPS_USED)) {
-                next_fix = AP_GPS::GPS_OK_FIX_3D_DGPS;
+                // next_fix = AP_GPS::GPS_OK_FIX_3D_DGPS;
+                next_fix = AP_GPS::GPS_OK_FIX_3D;
             }else if( _buffer.solution.fix_type == AP_GPS_UBLOX::FIX_3D) {
                 next_fix = AP_GPS::GPS_OK_FIX_3D;
             }else if (_buffer.solution.fix_type == AP_GPS_UBLOX::FIX_2D) {
@@ -1166,8 +1168,10 @@ AP_GPS_UBLOX::_parse_gps(void)
                 break;
             case 3:
                 state.status = AP_GPS::GPS_OK_FIX_3D;
-                if (_buffer.pvt.flags & 0b00000010)  // diffsoln
-                    state.status = AP_GPS::GPS_OK_FIX_3D_DGPS;
+                if (_buffer.pvt.flags & 0b00000010){  // diffsoln
+                    // state.status = AP_GPS::GPS_OK_FIX_3D_DGPS;
+                    state.status = AP_GPS::GPS_OK_FIX_3D;
+                }
                 if (_buffer.pvt.flags & 0b01000000)  // carrsoln - float
                     state.status = AP_GPS::GPS_OK_FIX_3D_RTK_FLOAT;
                 if (_buffer.pvt.flags & 0b10000000)  // carrsoln - fixed

libraries/AP_OpticalFlow/AP_OpticalFlow_HereFlow.cpp

@@ -66,8 +66,13 @@ void AP_OpticalFlow_HereFlow::handle_measurement(AP_UAVCAN* ap_uavcan, uint8_t n
     if (_ap_uavcan == ap_uavcan && _node_id == node_id) {
         WITH_SEMAPHORE(_driver->_sem);
         _driver->new_data = true;
+        if(0){
             _driver->flowRate = Vector2f(cb.msg->flow_integral[0], cb.msg->flow_integral[1]);
             _driver->bodyRate = Vector2f(cb.msg->rate_gyro_integral[0], cb.msg->rate_gyro_integral[1]);
+        }else{
+            _driver->flowRate = Vector2f(-cb.msg->flow_integral[1], cb.msg->flow_integral[0]);
+            _driver->bodyRate = Vector2f(-cb.msg->rate_gyro_integral[1], cb.msg->rate_gyro_integral[0]);
+        }
         _driver->integral_time = cb.msg->integration_interval;
         _driver->surface_quality = cb.msg->quality;
     }

libraries/AP_UAVCAN/AP_UAVCAN_Server.cpp

@@ -438,7 +438,7 @@ void AP_UAVCAN_Server::verify_nodes(AP_UAVCAN *ap_uavcan)
         /* Only report if the node was verified, otherwise ignore
         as this could be just Bootloader to Application transition. */
         if (isNodeIDVerified(curr_verifying_node)) {
-            gcs().send_text(MAV_SEVERITY_ERROR, "UC Node %d Down!", curr_verifying_node);
+            // gcs().send_text(MAV_SEVERITY_ERROR, "UC Node %d Down!", curr_verifying_node);
             // remove verification flag for this node
             verified_mask.clear(curr_verifying_node);
         }

libraries/RC_Channel/RC_Channel.cpp

@@ -136,7 +136,11 @@ RC_Channel::update(void)
     if (has_override() && !rc().ignore_overrides()) {
         radio_in = override_value;
     } else if (!rc().ignore_receiver()) {
+        if(rc().ignore_ctrl_channel() && ch_in < 6){
+            return false;
+        }else{
             radio_in = hal.rcin->read(ch_in);
+        }
     }else {
         return false;
     }

libraries/RC_Channel/RC_Channel.h

@@ -339,6 +339,9 @@ public:
     bool ignore_receiver() const {
         return _options & uint32_t(Option::IGNORE_RECEIVER);
     }
+    bool ignore_ctrl_channel() const {
+        return _options & uint32_t(Option::IGNORE_CTRLCHAN);
+    }
 
     float override_timeout_ms() const {
         return _override_timeout.get() * 1e3f;
@@ -350,6 +353,7 @@ protected:
         IGNORE_RECEIVER  = (1 << 0), // RC receiver modules
         IGNORE_OVERRIDES = (1 << 1), // MAVLink overrides
         IGNORE_FAILSAFE  = (1 << 2), // ignore RC failsafe bits
+        IGNORE_CTRLCHAN  = (1 << 3), // ignore RC failsafe bits
     };
 
     void new_override_received() {

zr_version

@@ -0,0 +1,10 @@
+zr-v4.0:   经过飞行测试，稳定版本
+zr-v4.0-dev:   新添加的功能，并入主分支前先验证
+
+zr-v4.0.1:
+
+zr-dev-4.0.2: NMEA 时间修复，日志目录名
+
+v4.0.3: 快速解锁
+
+v4.0.4： 分阶段降落，光流门限，限制GPS切换 _nunber_to_switch,