merge zbr-4.0

ArduCopter/Parameters.cpp

@@ -1624,7 +1624,7 @@ 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] = {' ',' ',' ',' ',' ','.'};   
+     char  name[7] = {' ',' ',' ',' ',' '};   
     //  memset(name,0,6);
      nameValue2 = nameValue2 & 0xffffff;
     //  name[5] = "a";
@@ -1633,6 +1633,6 @@ const char* Copter::get_sysid_board_id(void)
      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.%5s%d",name,(int)g.sysid_board_id);
+    snprintf(buf, sizeof(buf),  "Version: zr-v4.0.1,Board ID: ZRZK.%s.%d",name,(int)g.sysid_board_id);
     return buf;
 }

ArduCopter/UserCode.cpp

@@ -57,28 +57,39 @@ void Copter::userhook_SlowLoop()
 #endif
 
 #ifdef USERHOOK_SUPERSLOWLOOP
+static float batt_mah_teb[] =
+{
+    25.20,24.90,24.84,24.76,24.69,24.64,24.60,24.57,24.54,24.52,
+    24.50,24.48,24.45,24.43,24.40,24.36,24.32,24.26,24.21,24.14,
+    24.07,24.00,23.94,23.88,23.79,23.71,23.65,23.58,23.51,23.46,
+    23.41,23.36,23.30,23.24,23.19,23.13,23.07,23.01,22.95,22.91,
+    22.86,22.81,22.76,22.70,22.65,22.59,22.54,22.48,22.43,22.37,
+    22.31,22.26,22.21,22.16,22.11,22.06,22.01,21.96,21.92,21.88,
+    21.84,21.79,21.76,21.72,21.69,21.64,21.59,21.54,21.49,21.45,
+    21.40,21.34,21.29,21.24,21.18,21.13,21.07,21.02,20.96,20.90,
+    20.85,20.80,20.75,20.69,20.63,20.56,20.47,20.29,20.16,20.04,
+    19.88,19.73,19.53,19.34,19.19,19.00,18.80,18.51,18.00,17.40,
+    16.80
+};
 void Copter::userhook_SuperSlowLoop()
 {
     // put your 1Hz code here
-    // if(!motors->armed())
-    // {
-    //     camera.set_trigger_distance(0);  //  @Brown , stop take photos
-    // }
-
-    //     float proximity_alt_diff;
-    // AP_Proximity *proximity = AP::proximity();
-    // if (proximity && proximity->get_horizontal_distance(0,proximity_alt_diff)) {
-
-    //     if(proximity_alt_diff < 40.0)
-    //     {
-
-    //         if(control_mode != Mode::Number::BRAKE)
-    //             gcs().send_text(MAV_SEVERITY_INFO, "Dist: %f, stop",proximity_alt_diff);
-    //         control_mode = Mode::Number::BRAKE;
-            
-    //     }
+    static bool before_fly = true;
+    if(motors->armed())
+        before_fly = false;
+    if(before_fly){
+        uint8_t cnt,cacl_volt_pst;
+        float delt_volt;
+        for(cnt = 0; cnt<102; cnt++ ){
+            delt_volt = batt_mah_teb[cnt] - battery.voltage();
+            // delt_volt = batt_mah_teb[cnt] - test_volt;
+            if(delt_volt <= 0)
+                break;
+        }
+        cacl_volt_pst = 100 - cnt;
+        battery.reset_remaining(1, cacl_volt_pst);
+    }
 
-    // }
 }
 #endif
 

Tools/ardupilotwaf/git_submodule.py

@@ -134,10 +134,11 @@ def git_submodule_update(self, name):
 @before_method('process_source')
 def process_module_dependencies(self):
     return
-    # self.git_submodule = getattr(self, 'git_submodule', '')
-    # if not self.git_submodule:
-    #     self.bld.fatal('git_submodule: empty or missing git_submodule argument')
-    # self.git_submodule_update(self.git_submodule)
+    self.git_submodule = getattr(self, 'git_submodule', '')
+    if not self.git_submodule:
+        self.bld.fatal('git_submodule: empty or missing git_submodule argument')
+    self.git_submodule_update(self.git_submodule)
+
 
 @conf
 def git_submodule(bld, git_submodule, **kw):