测流航点距离计算数组越界问题修复

ArduCopter/version.h

@@ -6,14 +6,14 @@
 
 #include "ap_version.h"
 
-#define THISFIRMWARE "ZRUAV v4.0.17-RC8"  //"ArduCopter V4.0.0"
+#define THISFIRMWARE "ZRUAV v4.0.19"  //"ArduCopter V4.0.0"
 
 // the following line is parsed by the autotest scripts
-#define FIRMWARE_VERSION 4,0,17,FIRMWARE_VERSION_TYPE_OFFICIAL
+#define FIRMWARE_VERSION 4,0,19,FIRMWARE_VERSION_TYPE_OFFICIAL
 
 #define FW_MAJOR 4
 #define FW_MINOR 0
-#define FW_PATCH 17
+#define FW_PATCH 19
 #define FW_TYPE FIRMWARE_VERSION_TYPE_OFFICIAL
 /**
  * AVDv6: avoid.get_zr_mode() = 3时可以用Loiter模式测试自动避障

ArduCopter/zr_flight.cpp

@@ -383,7 +383,7 @@ void Copter::add_flow_wp()
 {
     // Vector3f* _flow_wp;    // 动态存储坐标
     // uint16_t _flow_wp_points_count;    // 动态存储计数
-    flow_measure.max_flow_wp = mode_auto.mission.num_commands();
+    // flow_measure.max_flow_wp = mode_auto.mission.num_commands();
     AP_Mission::Mission_Command mission_cmd;
     Vector2f pos_ne;
     flow_measure._flow_wp_points_count = 0;
@@ -466,7 +466,17 @@ void Copter::zr_mission_flow_mode()
         }
         if(control_mode != Mode::Number::AUTO){
             flow_measure.set_reach_flow_wp(false);
-            get_mindist_flow_wp();
+            flow_measure.max_flow_wp = mode_auto.mission.num_commands();
+            static bool need_alarm_wp = true;
+            if (flow_measure.max_flow_wp < 50)
+            {
+                need_alarm_wp = true;
+                get_mindist_flow_wp();
+            }else if(need_alarm_wp){
+                gcs().send_text(MAV_SEVERITY_NOTICE, "NOTICE:测流航线错误,航点数：%d",flow_measure.max_flow_wp);
+                need_alarm_wp = false;
+            }
+            
         }else{
             if(flow_measure.flow_start_sw){
                 flow_measure.flow_start_sw = false;

all.sh

@@ -6,31 +6,31 @@ starttime=`date +'%Y-%m-%d %H:%M:%S'`
 ./waf configure --board rs100 > build_log.txt
 # ./waf clean >> build_log.txt
 ./waf copter >> build_log.txt
-cp ./build/rs100/bin/arducopter.apj  /mnt/f/_01-work/100\=data/固件/编译/致睿rs100-v4.0.17-RC8.px4
+cp ./build/rs100/bin/arducopter.apj  /mnt/f/_01-work/100\=data/固件/编译/致睿rs100-v4.0.18.px4
 echo "finish build rs100 "
 ./waf configure --board rs100h >> build_log.txt
-# ./waf clean >> build_log.txt
+./waf clean >> build_log.txt
 ./waf copter >> build_log.txt
-cp ./build/rs100h/bin/arducopter.apj  /mnt/f/_01-work/100\=data/固件/编译/致睿rs100h-v4.0.17-RC8.px4
+cp ./build/rs100h/bin/arducopter.apj  /mnt/f/_01-work/100\=data/固件/编译/致睿rs100h-v4.0.18.px4
 echo "finish build rs100h "
 
 ./waf configure --board d100 >> build_log.txt
-# ./waf clean >> build_log.txt
+./waf clean >> build_log.txt
 ./waf copter >> build_log.txt
-cp ./build/d100/bin/arducopter.apj  /mnt/f/_01-work/100\=data/固件/编译/中海达d100-v4.0.17-RC8.px4
+cp ./build/d100/bin/arducopter.apj  /mnt/f/_01-work/100\=data/固件/编译/中海达d100-v4.0.18.px4
 echo "finish build d100 "
 
 ./waf configure --board d100h >> build_log.txt
-# ./waf clean >> build_log.txt
+./waf clean >> build_log.txt
 ./waf copter >> build_log.txt
-cp ./build/d100h/bin/arducopter.apj  /mnt/f/_01-work/100\=data/固件/编译/中海达d100h-v4.0.17-RC8.px4
+cp ./build/d100h/bin/arducopter.apj  /mnt/f/_01-work/100\=data/固件/编译/中海达d100h-v4.0.18.px4
 echo "finish build d100h "
 
-# ./waf configure --board zr-hexa >> build_log.txt
-# ./waf clean >> build_log.txt
-# ./waf copter >> build_log.txt
-# cp ./build/zr-hexa/bin/arducopter.apj  /mnt/f/_01-work/100\=data/固件/编译/六轴m66-v4.0.17-RC8.px4
-# echo "finish build zr-hexa "
+./waf configure --board zr-hexa >> build_log.txt
+./waf clean >> build_log.txt
+./waf copter >> build_log.txt
+cp ./build/zr-hexa/bin/arducopter.apj  /mnt/f/_01-work/100\=data/固件/编译/六轴m66-v4.0.18.px4
+echo "finish build zr-hexa "
 
 endtime=`date +'%Y-%m-%d %H:%M:%S'`
 date -R

d100.sh

@@ -1,3 +1,3 @@
 ./waf configure --board d100
 ./waf copter
-cp ./build/d100/bin/arducopter.apj  /mnt/f/_01-work/100\=data/固件/zr-v4/wsl/d100-v4.0.16-AVDv6.px4
+cp ./build/d100/bin/arducopter.apj  /mnt/f/_01-work/100\=data/固件/编译/d100-v4.0.18-celliu.px4

modules/mavlink

@@ -1 +1 @@
-Subproject commit 72b407db3991ed74631fa59a5e826615f569819f
+Subproject commit 959dea22dafbae0e5682cd2191e608b45a7566a9