1.空钩加锁完全不延时也可能顶部按键没可靠按下去，加一点延时 ms

2.Mqtt重连接加入3秒延时
3.mqtt域名改为ip防止dns失败
4.到顶停止只是在上升和未初始化时有效，下放时无效

src/FoodDeliveryBase.cpp

@@ -1,5 +1,4 @@
 #include "FoodDeliveryBase.h"
-
 /**
 * @description: 初始化
 */
@@ -16,6 +15,7 @@ FoodCube::FoodCube(char* userSsid, char* userPassword, char* userMqttServer, int
   udpServerIP = userUdpServerIP;      //云台相机ip
   udpServerPort = userUdpServerPort;  //云台相机端口
   wificonnected=false;
+  _tm_mqttconnect=0;
 
   //初始化飞控通讯串口 波特率
   switch (mavlinkSerial) {  //初始化指定 串口号
@@ -165,7 +165,9 @@ bool FoodCube::checkWiFiStatus()
 void FoodCube::connectMqtt(String topicSub[], int topicSubCount) {
   if (mqttClient->connected()) return;
   /*尝试连接mqtt*/
-  log("connect_mqtt");
+  if ((millis() - _tm_mqttconnect)>3000)
+  {
+    logln("connect_mqtt");
     if (mqttClient->connect(macAdd.c_str(), mqttName, mqttPassword)) {
       logln("MQTT Server Connected.");
       log("Server Address: ");
@@ -177,14 +179,18 @@ void FoodCube::connectMqtt(String topicSub[], int topicSubCount) {
       for (int i = 0; i < topicSubCount; i++) {  //遍历 订阅主题
         subscribeTopic(topicSub[i], 1);
       }
+      delay(500);
       playText("[v1]指令服务器已连接");
     } else {
       //失败返回状态码
       log("MQTT Server Connect Failed. Client State:");
       logln(mqttClient->state());
+      _tm_mqttconnect=millis();
+
       //delay(3000);
     }
   }
+}
 
 /**
 * @description: 写在loop函数里 检测mqtt连接情况 并保持心跳

src/FoodDeliveryBase.h

@@ -89,6 +89,10 @@ private:
   WiFiUDP udp;            //udp信息操作对象
   char* udpServerIP;      //云台相机ip地址
   uint32_t udpServerPort; //云台相机端口
+  unsigned long _tm_mqttconnect; //mqtt上次连接时间
+
+
+
   //摄像头控制 校验代码
   const uint16_t crc16_tab[256] = { 0x0, 0x1021, 0x2042, 0x3063, 0x4084, 0x50a5, 0x60c6, 0x70e7,
                                     0x8108, 0x9129, 0xa14a, 0xb16b, 0xc18c, 0xd1ad, 0xe1ce, 0xf1ef,

src/config.h

@@ -25,8 +25,9 @@
 #define SERIAL_REPORT_RX 18
 /////
 #define WEIGHT_SCALE 165 // 276 //这是缩放值，根据砝码实测516.f
-#define TM_INSTORE_DELAY 200 //200 // 入仓动力延时关闭时间  ms
+#define TM_INSTORE_WEIGHT_DELAY 200 //200 // 入仓动力延时关闭时间  ms
 #define TM_INSTORE_DELAY_WEIGHT 200 // 入仓动力延时关闭时间生效的重量(g)，免得空钩也延时关闭导致线拉紧  ms
+#define TM_INSTORE_NOWEIGHT_DELAY 50 // 空钩完全不延时也可能顶部按键按不下去，加一点延时 ms
 
 
 

src/main.cpp

@@ -95,7 +95,7 @@ const uint16_t   MAV_CMD_FC_HOOK_RECOVERY=43; //飞控发的---收线
 //char* password = "Ttaj@#*.com";                                                   //wifi密码
 char* ssid = (char*)"fxmf_sc01";          //wifi帐号
 char* password =  (char*)"12345678";     //wifi密码
-char* mqttServer =  (char*)"szdot.top";  //mqtt地址
+char* mqttServer =  (char*)"114.115.137.239";//"szdot.top";  //mqtt地址
 int mqttPort = 1883;             //mqtt端口
 char* mqttName =  (char*)"admin";        //mqtt帐号
 char* mqttPassword =  (char*)"123456";   //mqtt密码
@@ -378,18 +378,21 @@ void loop()
   {
     if ((initstatus==IS_OK)&&(pullweight>TM_INSTORE_DELAY_WEIGHT) )
     {
-      if ((millis() - _tm_bengstop) > TM_INSTORE_DELAY)
+      if ((millis() - _tm_bengstop) > TM_INSTORE_WEIGHT_DELAY)
       {
         _bengstop = false;
         motocontrol.setlocked(true);
       }
     }
     else 
+    {
+      if ((millis() - _tm_bengstop) > TM_INSTORE_NOWEIGHT_DELAY)
       {
         _bengstop = false;
         motocontrol.setlocked(true);
       }
     }
+  }
  
   // 检测执行初始化工作
   checkinited();
@@ -460,7 +463,7 @@ void showledidel()
   // 超重--红色
   if (motocontrol.getcontrolstatus().is_overweight)
   {
-    led_show(255, 0, 0); // 红色
+    led_show(255, 0, 255); // 紫色
     return;
   }
    switch (motocontrol.gethooktatus())
@@ -553,10 +556,13 @@ void showledidel()
 void ctbtn_pressstart()
 {
   Serial.println("ctbtn_pressstart");
-
+  //只在上升时停止
+  if ((motocontrol.gethooktatus()== HS_UnInit)||(motocontrol.gethooktatus()== HS_Up)||(motocontrol.gethooktatus()== HS_InStore))
+  {
     _tm_bengstop = millis();
     _bengstop = true;
   }
+}
 // 顶部按钮，抬起
 void ctbtn_pressend()
 {