t提示消息调整

ArduCopter/UserCode.cpp

@@ -72,7 +72,7 @@ if(avoid.get_zr_mode() > 0 && (control_mode == Mode::Number::BRAKE || control_mo
         }
     }
 }
-if(last_flag != enable_avoid){
+if(avoid.get_zr_mode() > 0 && last_flag != enable_avoid){
     if(enable_avoid){
         gcs().send_text(MAV_SEVERITY_INFO,"NOTICE: 开启自动避障!");
     }else{
@@ -110,7 +110,6 @@ void Copter::userhook_SuperSlowLoop()
     }else{
         zr_set_uav_state_to_uavcan();
         zr_camera_mkdir();
-        zr_camera_mkdir();
         if(current_loc.alt < avoid.get_zr_avd_alt()){   // 飞行高度小于避障启用高度
             if(home_distance() < abs(avoid.get_zr_avd_on_dist())){   // 距离Home点小于启用距离
                 far_from_home = false;
@@ -152,13 +151,13 @@ void Copter::userhook_auxSwitch1(uint8_t ch_flag)
             // relay.on(2);
             flow_start_sw = true;
             
-            gcs().send_text(MAV_SEVERITY_NOTICE, "[NOTE]开启手动测流");
+            gcs().send_text(MAV_SEVERITY_NOTICE, "NOTICE:开启手动测流");
             break;
         }
         case 0: {
             // relay.off(2);
             flow_start_sw = false;
-            gcs().send_text(MAV_SEVERITY_NOTICE, "[NOTE]关闭手动测流");
+            gcs().send_text(MAV_SEVERITY_NOTICE, "NOTICE:关闭手动测流");
             break;
         }
     }
@@ -173,26 +172,6 @@ void Copter::userhook_auxSwitch1(uint8_t ch_flag)
     //         break;
     //     }
     // }
-    switch (ch_flag) {
-        case 2: {
-            // relay.on(2);
-            gcs().send_text(MAV_SEVERITY_INFO,"NOTICE: debug mode 2!");
-            in_debug_mode = 1;
-            break;
-        }
-        // case 1: {
-        //     // relay.on(2);
-        //     gcs().send_text(MAV_SEVERITY_INFO,"NOTICE: debug mode 1!");
-        //     in_debug_mode = 1;
-        //     break;
-        // }
-        case 0: {
-            // relay.off(2);
-            gcs().send_text(MAV_SEVERITY_INFO,"NOTICE: debug mode off!");
-            in_debug_mode = 0;
-            break;
-        }
-    }
 #if CAM_DEBUG      
     switch (ch_flag) {
         case 2: {
@@ -226,13 +205,13 @@ void Copter::userhook_auxSwitch2(uint8_t ch_flag)
         case 2: {
             // relay.on(2);
             flow_index_sw = true;
-            gcs().send_text(MAV_SEVERITY_NOTICE, "[NOTE]测流序号递增");
+            gcs().send_text(MAV_SEVERITY_NOTICE, "NOTICE:测流序号递增");
             break;
         }
         case 0: {
             // relay.off(2);
             flow_index_sw = false;
-            gcs().send_text(MAV_SEVERITY_NOTICE, "[NOTE]测流序号不变");
+            gcs().send_text(MAV_SEVERITY_NOTICE, "NOTICE:测流序号不变");
             break;
         }
     }
@@ -331,7 +310,7 @@ void Copter::zr_mission_flow_mode()
         int32_t real_alt;
         flow_measure.set_radar_mode(g.zr_flow_type);    //设置雷达模式，单测流或者三合一等
         flow_measure.set_radar_sens(g.zr_flow_sens);    //设置雷达灵敏度
-        flow_measure.set_radar_debug(g.zr_flow_debug);    //设置雷达debug模式
+        // flow_measure.set_radar_debug(g.zr_flow_debug);    //设置雷达debug模式
         
         if(g.zr_flow_type == 2) // 单测流+指定水位高
             real_alt = g.zr_flow_real_elevation;  // 直接设置水位高度