edit param value

ArduCopter/AP_Arming.cpp

@@ -562,6 +562,11 @@ bool AP_Arming_Copter::arm_checks(AP_Arming::Method method)
 {
     const AP_AHRS_NavEKF &ahrs = AP::ahrs_navekf();
 
+   //arm if  Trial time is not arrived  add@bnsir
+    if( !mandatory_deadline_checks(false)){
+                return false;
+    }
+    
     // always check if inertial nav has started and is ready
     if (!ahrs.healthy()) {
         check_failed(true, "AHRS not healthy");
@@ -580,13 +585,6 @@ bool AP_Arming_Copter::arm_checks(AP_Arming::Method method)
     }
 #endif
 
-   //arm if  Trial time is not arrived  add@bnsir
-
-if( !mandatory_deadline_checks(false)){
-            return false;
-}
-
-
     Mode::Number control_mode = copter.control_mode;
 
     // always check if the current mode allows arming

ArduCopter/Parameters.cpp

@@ -43,24 +43,18 @@ const AP_Param::Info Copter::var_info[] = {
     // @ReadOnly: True
     GSCALAR(format_version, "SYSID_SW_MREV",   0),
 
-    // @Param: BOARD_ID
-    // @DisplayName: Board ID
-    // @Description: For mark board id
-    // @User: @Brown
-    GSCALAR(sysid_board_id,   "SYSID_BOARD_ID",     100),
-
     // @Param: SYSID_BD_NAME1
     // @DisplayName: Board Name 1st
     // @Description: For mark board name first
     // @Range: 1-4294967269
     // @User: @Binsir
-    GSCALAR(sysid_board_name_1st,   "SYSID_BDNAME_P1",   12848 ),
+    GSCALAR(sysid_board_name_1st,   "SYSID_BDNAME_P1",   2004 ),
 
     // @Param: SYSID_BD_NAME2
     // @DisplayName: Board Name 2nd
     // @Description: For mark board name last
   // @User: @Binsir
-    GSCALAR(sysid_board_name_2nd,   "SYSID_BDNAME_P2",     5329970),
+    GSCALAR(sysid_board_name_2nd,   "SYSID_BDNAME_P2",    1001),
 
     // @Param: SYSID_THISMAV
     // @DisplayName: MAVLink system ID of this vehicle
@@ -220,7 +214,7 @@ const AP_Param::Info Copter::var_info[] = {
     // @Description: Determines how the autopilot controls the yaw during missions and RTL
     // @Values: 0:Never change yaw, 1:Face next waypoint, 2:Face next waypoint except RTL, 3:Face along GPS course
     // @User: Standard
-    GSCALAR(wp_yaw_behavior,  "WP_YAW_BEHAVIOR",    WP_YAW_BEHAVIOR_DEFAULT),
+    GSCALAR(wp_yaw_behavior,  "WP_YAW_BEHAVIOR",    WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP),
 
     // @Param: LAND_SPEED
     // @DisplayName: Land speed
@@ -229,7 +223,7 @@ const AP_Param::Info Copter::var_info[] = {
     // @Range: 30 200
     // @Increment: 10
     // @User: Standard
-    GSCALAR(land_speed,             "LAND_SPEED",   LAND_SPEED),
+    GSCALAR(land_speed,             "LAND_SPEED",    LAND_SPEED),
 
     // @Param: LAND_SPEED_HIGH
     // @DisplayName: Land speed high
@@ -263,7 +257,7 @@ const AP_Param::Info Copter::var_info[] = {
     // @Description: The throttle failsafe allows you to configure a software failsafe activated by a setting on the throttle input channel
     // @Values:  0:Disabled,1:Enabled always RTL,2:Enabled Continue with Mission in Auto Mode (Deprecated in 4.0+),3:Enabled always Land,4:Enabled always SmartRTL or RTL,5:Enabled always SmartRTL or Land
     // @User: Standard
-    GSCALAR(failsafe_throttle,  "FS_THR_ENABLE",   FS_THR_ENABLED_ALWAYS_RTL),
+    GSCALAR(failsafe_throttle,  "FS_THR_ENABLE",   FS_THR_DISABLED),
 
     // @Param: FS_THR_VALUE
     // @DisplayName: Throttle Failsafe Value
@@ -910,7 +904,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Range: 100 10000
     // @Increment: 10
     // @User: Advanced
-    AP_GROUPINFO("LAND_ALT_LOW", 25, ParametersG2, land_alt_low, 1000),
+    AP_GROUPINFO("LAND_ALT_LOW", 25, ParametersG2, land_alt_low, 2000),
 
 #if !HAL_MINIMIZE_FEATURES && OPTFLOW == ENABLED
     // @Group: FHLD
@@ -1629,39 +1623,11 @@ 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[7] ;   
+
-     memset(name,0,7);
+    // snprintf(buf, sizeof(buf),  "Version: zr-v4.0.1 ,Board ID: ZRZK.%s%d",name,(int)g.sysid_board_id);
-     //nameValue2 = nameValue2 & 0xffffff;
+    snprintf(buf, sizeof(buf),  "Version: zr-v4.0.1 ,ID: RS100%04d%05d",(int)nameValue1,(int)nameValue2);
-     name[5] = '.';
-     name[4] = nameValue2&0xFF;
-     name[3] = nameValue2>>8&0xFF; 
-     name[2] = nameValue2>>16& 0xFF;   
-     name[1] = nameValue1&0xFF; 
-     name[0] = nameValue1>>8 & 0xFF;  
-    snprintf(buf, sizeof(buf),  "Version: zr-v4.0.1 ,Board ID: ZRZK.%s%d",name,(int)g.sysid_board_id);
     return buf;
 }
-// // modify by @Brown
-// const char* Copter::get_sysid_board_id(void)
-// {
-
-//     static char  buf[50];
-//     // snprintf(buf, sizeof(buf),  "Version: v3.5.6 ,Board ID: ZRZK.19QT3.%d",(int)g.sysid_board_id);
-
-//      int32_t nameValue1 =(int32_t) g.sysid_board_name_1st;
-//      int32_t nameValue2 = (int32_t)g.sysid_board_name_2nd;   
-//      char  name[7] = {' ',' ',' ',' ',' '};   
-//     //  memset(name,0,6);
-//      nameValue2 = nameValue2 & 0xffffff;
-//     //  name[5] = "a";
-//      name[4] = nameValue2&0xFF;
-//      name[3] = nameValue2>>8&0xFF; 
-//      name[2] = nameValue2>>16& 0xFF;   
-//      name[1] = nameValue1&0xFF; 
-//      name[0] = nameValue1>>8 & 0xFF;  
-//     snprintf(buf, sizeof(buf),  "Version: zr-v4.0.1,Board ID: ZRZK.%s.%d",name,(int)g.sysid_board_id);
-//     return buf;
-// }
 
 void Copter::get_deadline_params(int32_t &deadline)
 {

ArduCopter/Parameters.h

@@ -387,9 +387,9 @@ public:
 
     AP_Int16        format_version;
 
-    AP_Int16        sysid_board_id; // modify by @Brown
+    // AP_Int32        sysid_board_id; // modify by @Brown
-    AP_Int32        sysid_board_name_1st;// modify by @Binsir
+    AP_Int16        sysid_board_name_1st;// modify by @Binsir
-    AP_Int32         sysid_board_name_2nd;// modify by @Binsir
+    AP_Int16         sysid_board_name_2nd;// modify by @Binsir
 
     // Telemetry control
     //

ArduCopter/config.h

@@ -410,22 +410,22 @@
 //
 
 #ifndef FLIGHT_MODE_1
- # define FLIGHT_MODE_1                  Mode::Number::STABILIZE
+ # define FLIGHT_MODE_1                  Mode::Number::ALT_HOLD
 #endif
 #ifndef FLIGHT_MODE_2
- # define FLIGHT_MODE_2                  Mode::Number::STABILIZE
+ # define FLIGHT_MODE_2                  Mode::Number::ALT_HOLD
 #endif
 #ifndef FLIGHT_MODE_3
- # define FLIGHT_MODE_3                  Mode::Number::STABILIZE
+ # define FLIGHT_MODE_3                  Mode::Number::LOITER
 #endif
 #ifndef FLIGHT_MODE_4
- # define FLIGHT_MODE_4                  Mode::Number::STABILIZE
+ # define FLIGHT_MODE_4                  Mode::Number::LOITER
 #endif
 #ifndef FLIGHT_MODE_5
- # define FLIGHT_MODE_5                  Mode::Number::STABILIZE
+ # define FLIGHT_MODE_5                  Mode::Number::AUTO
 #endif
 #ifndef FLIGHT_MODE_6
- # define FLIGHT_MODE_6                  Mode::Number::STABILIZE
+ # define FLIGHT_MODE_6                  Mode::Number::AUTO
 #endif
 
 
@@ -504,7 +504,7 @@
 #endif
 
 #ifndef ACRO_YAW_P
- # define ACRO_YAW_P                4.5f
+ # define ACRO_YAW_P                3.0f
 #endif
 
 #ifndef ACRO_LEVEL_MAX_ANGLE
@@ -641,7 +641,7 @@
 #endif
 
 #ifndef AUTO_DISARMING_DELAY
-# define AUTO_DISARMING_DELAY  10
+# define AUTO_DISARMING_DELAY  5
 #endif
 
 //////////////////////////////////////////////////////////////////////////////

libraries/AC_Avoidance/AC_Avoid.h

@@ -15,7 +15,7 @@
 #define AC_AVOID_DEFAULT                (AC_AVOID_STOP_AT_FENCE | AC_AVOID_USE_PROXIMITY_SENSOR)
 
 // definitions for non-GPS avoidance
-#define AC_AVOID_NONGPS_DIST_MAX_DEFAULT    5.0f    // objects over 5m away are ignored (default value for DIST_MAX parameter)
+#define AC_AVOID_NONGPS_DIST_MAX_DEFAULT    7.0f    // objects over 5m away are ignored (default value for DIST_MAX parameter)
 #define AC_AVOID_ANGLE_MAX_PERCENT          0.75f   // object avoidance max lean angle as a percentage (expressed in 0 ~ 1 range) of total vehicle max lean angle
 
 /*

libraries/AC_WPNav/AC_Loiter.cpp

@@ -3,7 +3,7 @@
 
 extern const AP_HAL::HAL& hal;
 
-#define LOITER_SPEED_DEFAULT                1250.0f // default loiter speed in cm/s
+#define LOITER_SPEED_DEFAULT                1000.0f // default loiter speed in cm/s
 #define LOITER_SPEED_MIN                    20.0f   // minimum loiter speed in cm/s
 #define LOITER_ACCEL_MAX_DEFAULT            500.0f  // default acceleration in loiter mode
 #define LOITER_BRAKE_ACCEL_DEFAULT          250.0f  // minimum acceleration in loiter mode

libraries/AC_WPNav/AC_WPNav.h

@@ -14,13 +14,13 @@
 #define WPNAV_ACCELERATION              100.0f      // defines the default velocity vs distant curve.  maximum acceleration in cm/s/s that position controller asks for from acceleration controller
 #define WPNAV_ACCELERATION_MIN           50.0f      // minimum acceleration in cm/s/s - used for sanity checking _wp_accel parameter
 
-#define WPNAV_WP_SPEED                  500.0f      // default horizontal speed between waypoints in cm/s
+#define WPNAV_WP_SPEED                  800.0f      // default horizontal speed between waypoints in cm/s
 #define WPNAV_WP_SPEED_MIN               20.0f      // minimum horizontal speed between waypoints in cm/s
 #define WPNAV_WP_TRACK_SPEED_MIN         50.0f      // minimum speed along track of the target point the vehicle is chasing in cm/s (used as target slows down before reaching destination)
 #define WPNAV_WP_RADIUS                 200.0f      // default waypoint radius in cm
 #define WPNAV_WP_RADIUS_MIN               5.0f      // minimum waypoint radius in cm
 
-#define WPNAV_WP_SPEED_UP               250.0f      // default maximum climb velocity
+#define WPNAV_WP_SPEED_UP               350.0f      // default maximum climb velocity
 #define WPNAV_WP_SPEED_DOWN             150.0f      // default maximum descent velocity
 
 #define WPNAV_WP_ACCEL_Z_DEFAULT        100.0f      // default vertical acceleration between waypoints in cm/s/s

libraries/AP_BoardConfig/AP_BoardConfig.cpp

@@ -38,7 +38,7 @@
 #endif
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
-# define BOARD_SAFETY_ENABLE_DEFAULT 1
+# define BOARD_SAFETY_ENABLE_DEFAULT 0
 #ifndef BOARD_PWM_COUNT_DEFAULT
 # define BOARD_PWM_COUNT_DEFAULT 6
 #endif
@@ -62,7 +62,7 @@
 #endif
 
 #ifndef BOARD_PWM_COUNT_DEFAULT
-#define BOARD_PWM_COUNT_DEFAULT 8
+#define BOARD_PWM_COUNT_DEFAULT 4
 #endif
 
 #ifndef BOARD_CONFIG_BOARD_VOLTAGE_MIN

libraries/AP_Camera/AP_Camera.cpp

@@ -97,7 +97,7 @@ const AP_Param::GroupInfo AP_Camera::var_info[] = {
     // @Description: When enabled, trigging by distance is done in AUTO mode only.
     // @Values: 0:Always,1:Only when in AUTO
     // @User: Standard
-    AP_GROUPINFO("AUTO_ONLY",  10, AP_Camera, _auto_mode_only, 0),
+    AP_GROUPINFO("AUTO_ONLY",  10, AP_Camera, _auto_mode_only, 1),
 
     // @Param: TYPE
     // @DisplayName: Type of camera (0: None, 1: BMMCC)

libraries/AP_Camera/AP_Camera.h

@@ -8,9 +8,9 @@
 #define AP_CAMERA_TRIGGER_TYPE_SERVO                0
 #define AP_CAMERA_TRIGGER_TYPE_RELAY                1
 
-#define AP_CAMERA_TRIGGER_DEFAULT_TRIGGER_TYPE  AP_CAMERA_TRIGGER_TYPE_SERVO    // default is to use servo to trigger camera
+#define AP_CAMERA_TRIGGER_DEFAULT_TRIGGER_TYPE  AP_CAMERA_TRIGGER_TYPE_RELAY    // default is to use servo to trigger camera
 
-#define AP_CAMERA_TRIGGER_DEFAULT_DURATION  10      // default duration servo or relay is held open in 10ths of a second (i.e. 10 = 1 second)
+#define AP_CAMERA_TRIGGER_DEFAULT_DURATION  3      // default duration servo or relay is held open in 10ths of a second (i.e. 10 = 1 second)
 
 #define AP_CAMERA_SERVO_ON_PWM              1300    // default PWM value to move servo to when shutter is activated
 #define AP_CAMERA_SERVO_OFF_PWM             1100    // default PWM value to move servo to when shutter is deactivated

libraries/AP_Compass/AP_Compass.cpp

@@ -296,7 +296,7 @@ const AP_Param::GroupInfo Compass::var_info[] = {
     // @Description: Enable or disable the second compass for determining heading.
     // @Values: 0:Disabled,1:Enabled
     // @User: Advanced
-    AP_GROUPINFO("USE2",    18, Compass, _state[1].use_for_yaw, 1),
+    AP_GROUPINFO("USE2",    18, Compass, _state[1].use_for_yaw, 0),
 
     // @Param: ORIENT2
     // @DisplayName: Compass2 orientation
@@ -319,7 +319,7 @@ const AP_Param::GroupInfo Compass::var_info[] = {
     // @Description: Enable or disable the third compass for determining heading.
     // @Values: 0:Disabled,1:Enabled
     // @User: Advanced
-    AP_GROUPINFO("USE3",    21, Compass, _state[2].use_for_yaw, 1),
+    AP_GROUPINFO("USE3",    21, Compass, _state[2].use_for_yaw, 0),
 
     // @Param: ORIENT3
     // @DisplayName: Compass3 orientation

libraries/AP_NavEKF2/AP_NavEKF2.cpp

@@ -107,7 +107,7 @@
 #define VEL_I_GATE_DEFAULT      500
 #define POS_I_GATE_DEFAULT      500
 #define HGT_I_GATE_DEFAULT      500
-#define MAG_I_GATE_DEFAULT      300
+#define MAG_I_GATE_DEFAULT      800
 #define MAG_CAL_DEFAULT         3
 #define GLITCH_RADIUS_DEFAULT   25
 #define FLOW_MEAS_DELAY         10
@@ -452,7 +452,7 @@ const AP_Param::GroupInfo NavEKF2::var_info[] = {
     // @Range: 100 1000
     // @Increment: 25
     // @User: Advanced
-    AP_GROUPINFO("YAW_I_GATE", 38, NavEKF2, _yawInnovGate, 300),
+    AP_GROUPINFO("YAW_I_GATE", 38, NavEKF2, _yawInnovGate, 800),
 
     // @Param: TAU_OUTPUT
     // @DisplayName: Output complementary filter time constant (centi-sec)

libraries/AP_Relay/AP_Relay.cpp

@@ -21,7 +21,7 @@
 #endif
 
 #ifndef RELAY1_PIN_DEFAULT
-  #define RELAY1_PIN_DEFAULT -1
+  #define RELAY1_PIN_DEFAULT 56
 #endif
 
 #ifndef RELAY2_PIN_DEFAULT