Merge'zr-dev-4.0.16' into zr-dev-4.0.17,降落锁定解锁后才判断

ArduCopter/mode.cpp

@@ -693,7 +693,7 @@ void Mode::land_lock_att_control(float *p_roll,float *p_pitch,float *p_yaw_rate)
             gcs().send_text(MAV_SEVERITY_INFO, "land lock sitl mode");
     #else
 
-    bool land_lock_attitude = (get_alt_above_ground_cm() < g.land_lock_alt * 2) && \
+    bool land_lock_attitude = (motors->armed() && get_alt_above_ground_cm() < g.land_lock_alt ) && \
                                 copter.rangefinder_alt_ok() && g.land_lock_alt &&  \
                                 (copter.control_mode == Mode::Number::LOITER || copter.control_mode == Mode::Number::LAND || copter.control_mode == Mode::Number::RTL || copter.control_mode == Mode::Number::AUTO);
     #endif
@@ -702,22 +702,16 @@ void Mode::land_lock_att_control(float *p_roll,float *p_pitch,float *p_yaw_rate)
         float *target_roll = p_roll;
         float *target_pitch = p_pitch;
         float *target_yaw_rate = p_yaw_rate;
-        if(prt_once == 0)
-        {
-            gcs().send_text(MAV_SEVERITY_INFO, "Land ready to enter attitude lock mode");
-            copter.Log_Write_Event(DATA_LAND_READY_LOCK);
-            prt_once = 1;
-        }
         if(copter.rangefinder_state.alt_cm_filt.get() < g.land_lock_alt){
             *target_roll = 0;
             *target_pitch = 0;
             *target_yaw_rate = 0;
             loiter_nav->soften_for_landing();
-            if(prt_once == 1)
+            if(prt_once == 0)
             {
                 gcs().send_text(MAV_SEVERITY_INFO, "Land Lock attitude!");
                 copter.Log_Write_Event(DATA_LAND_LOCK_ATT);
-                prt_once = 2;
+                prt_once = 1;
             }
         }
     }else{

libraries/AP_Logger/AP_Logger.h

@@ -92,7 +92,7 @@ enum Log_Event : uint8_t {
     DATA_STANDBY_ENABLE = 74,
     DATA_STANDBY_DISABLE = 75,
 
-    DATA_LAND_READY_LOCK = 76,
+    // DATA_LAND_READY_LOCK = 76,
     DATA_LAND_LOCK_ATT = 77,
 
     DATA_SURFACED = 163,
@@ -287,7 +287,7 @@ public:
     void Write_OABendyRuler(bool active, float target_yaw, float margin, const Location &final_dest, const Location &oa_dest);
     void Write_OADijkstra(uint8_t state, uint8_t error_id, uint8_t curr_point, uint8_t tot_points, const Location &final_dest, const Location &oa_dest);
     void Write_Camera_Feedback(uint16_t index,uint16_t cam1,uint16_t cam2,uint16_t cam3,uint16_t cam4,uint16_t cam5,uint8_t flag);
-   void Write_RTK_Mark_Pos(uint16_t week, uint32_t second,const Vector3d& llh,float undulation,const Vector3f& sigma,float diff_age,float sol_age);
+    void Write_RTK_Mark_Pos(uint16_t week, uint32_t second,const Vector3d& llh,float undulation,const Vector3f& sigma,float diff_age,float sol_age);
 
     void Write(const char *name, const char *labels, const char *fmt, ...);
     void Write(const char *name, const char *labels, const char *units, const char *mults, const char *fmt, ...);