From dea7ec5acc0533b42fc06518750b74136cdb4be0 Mon Sep 17 00:00:00 2001
From: zbr3550 <zbr3550@sina.com>
Date: Fri, 28 Aug 2020 17:55:33 +0800
Subject: [PATCH] land lock modify

---
 ArduCopter/UserCode.cpp           |  2 +-
 ArduCopter/mode.cpp               | 14 ++++++++++++--
 libraries/AP_Arming/AP_Arming.cpp |  2 +-
 libraries/RC_Channel/RC_Channel.h |  2 +-
 4 files changed, 15 insertions(+), 5 deletions(-)

diff --git a/ArduCopter/UserCode.cpp b/ArduCopter/UserCode.cpp
index 6e3e6a23d3..c2cc4aebdd 100644
--- a/ArduCopter/UserCode.cpp
+++ b/ArduCopter/UserCode.cpp
@@ -88,7 +88,7 @@ void Copter::userhook_SuperSlowLoop()
     if(motors->armed()){
         before_fly = false;
         relay.on(3);
-        if (control_mode == Mode::Number::AUTO || control_mode == Mode::Number::RTL || control_mode == Mode::Number::LAND){
+        if (!rc().ignore_ctrl_channel() && (control_mode == Mode::Number::AUTO || control_mode == Mode::Number::RTL || control_mode == Mode::Number::LAND)){
             if(abs(channel_roll->get_control_in())>750 || \
                 abs(channel_pitch->get_control_in())>750 || \
                 abs(channel_yaw->get_control_in())>750 || \
diff --git a/ArduCopter/mode.cpp b/ArduCopter/mode.cpp
index 4c19a76584..09674c404c 100644
--- a/ArduCopter/mode.cpp
+++ b/ArduCopter/mode.cpp
@@ -642,8 +642,18 @@ void Mode::land_run_horizontal_control()
     }
 #endif
     static uint8_t prt_once;
-    bool land_lock_attitude = (get_alt_above_ground_cm() < g.land_lock_alt * 2) && copter.rangefinder_alt_ok() && g.land_lock_alt && (copter.control_mode == Mode::Number::LAND);
-    // bool land_lock_attitude = (get_alt_above_ground_cm() < g.land_lock_alt * 4) && g.land_lock_alt && (copter.control_mode == Mode::Number::LAND);
+    #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+        bool land_lock_attitude = (get_alt_above_ground_cm() < g.land_lock_alt * 4) && \
+                                 g.land_lock_alt &&  \
+                                (copter.control_mode == Mode::Number::LAND || copter.control_mode == Mode::Number::RTL || copter.control_mode == Mode::Number::AUTO);
+        if(!prt_once && land_lock_attitude)
+            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) && \
+                                copter.rangefinder_alt_ok() && g.land_lock_alt &&  \
+                                (copter.control_mode == Mode::Number::LAND || copter.control_mode == Mode::Number::RTL || copter.control_mode == Mode::Number::AUTO);
+    #endif
     if(land_lock_attitude)
     {
         if(prt_once == 0)
diff --git a/libraries/AP_Arming/AP_Arming.cpp b/libraries/AP_Arming/AP_Arming.cpp
index 06718f6769..cd3eb7e286 100644
--- a/libraries/AP_Arming/AP_Arming.cpp
+++ b/libraries/AP_Arming/AP_Arming.cpp
@@ -743,7 +743,7 @@ bool AP_Arming::proximity_checks(bool report) const
 
     // return false if proximity sensor unhealthy
     if (proximity->get_status() < AP_Proximity::Status::Good) {
-        check_failed(report, "检查接近传感器");//check proximity sensor
+        check_failed(report, "避障传感器不健康");//check proximity sensor
         return false;
     }
 
diff --git a/libraries/RC_Channel/RC_Channel.h b/libraries/RC_Channel/RC_Channel.h
index e6029cd9da..df22ccc66a 100644
--- a/libraries/RC_Channel/RC_Channel.h
+++ b/libraries/RC_Channel/RC_Channel.h
@@ -364,7 +364,7 @@ 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
+        IGNORE_CTRLCHAN  = (1 << 3), // ignore RC before ch6
     };
 
     void new_override_received() {