1. 【描述】： 发现fmu v2 目前无法实时在qgc上查看电池电压，给飞机远航飞行带来风险； 本次改动在fmu v2上添加adc驱动，使其上传电池电压信息给qgc；

2. 【review】：

• [x] review通过；

3. 【测试】

• [x] 自测编译通过；
• [x] 自测功能正常；

4.【影响域】： 将最终的总的电池电压计算下放到drv_adc 驱动中，不再放入上层计算； 原fmu v5的电池电压18倍数放到drv_adc 驱动中； 5.【review】：

• [ ] @JcZou

linux：ubuntu 20.04 工具链：gcc-arm-none-eabi-7-2018-q2-update 代码版本：v0.2.1

编译fmu-v2版与io固件没问题，但是编译fmu-v5固件时会出现如下报错

scons: Reading SConscript files ... scons: done reading SConscript files. scons: Building targets ... scons: building associated VariantDir targets: build CC build/fmt/src/module/toml/toml.o In file included from /opt/gcc-arm-none-eabi-7-2018-q2-update/arm-none-eabi/include/signal.h:6:0, from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/libc/libc_signal.h:72, from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/rtlibc.h:21, from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/rtdef.h:1104, from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/rtthread.h:24, from /home/bingo/project/FMT-Firmware/rtos/rt-thread/components/drivers/include/rtdevice.h:15, from /home/bingo/project/FMT-Firmware/src/include/firmament.h:23, from /home/bingo/project/FMT-Firmware/src/module/toml/toml.c:28: /opt/gcc-arm-none-eabi-7-2018-q2-update/arm-none-eabi/include/sys/signal.h:42:7: error: redefinition of 'union sigval' union sigval { ^~~~~~ In file included from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/rtlibc.h:21:0, from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/rtdef.h:1104, from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/rtthread.h:24, from /home/bingo/project/FMT-Firmware/rtos/rt-thread/components/drivers/include/rtdevice.h:15, from /home/bingo/project/FMT-Firmware/src/include/firmament.h:23, from /home/bingo/project/FMT-Firmware/src/module/toml/toml.c:28: /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/libc/libc_signal.h:28:7: note: originally defined here union sigval ^~~~~~ In file included from /opt/gcc-arm-none-eabi-7-2018-q2-update/arm-none-eabi/include/signal.h:6:0, from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/libc/libc_signal.h:72, from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/rtlibc.h:21, from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/rtdef.h:1104, from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/rtthread.h:24, from /home/bingo/project/FMT-Firmware/rtos/rt-thread/components/drivers/include/rtdevice.h:15, from /home/bingo/project/FMT-Firmware/src/include/firmament.h:23, from /home/bingo/project/FMT-Firmware/src/module/toml/toml.c:28: /opt/gcc-arm-none-eabi-7-2018-q2-update/arm-none-eabi/include/sys/signal.h:47:8: error: redefinition of 'struct sigevent' struct sigevent { ^~~~~~~~ In file included from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/rtlibc.h:21:0, from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/rtdef.h:1104, from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/rtthread.h:24, from /home/bingo/project/FMT-Firmware/rtos/rt-thread/components/drivers/include/rtdevice.h:15, from /home/bingo/project/FMT-Firmware/src/include/firmament.h:23, from /home/bingo/project/FMT-Firmware/src/module/toml/toml.c:28: /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/libc/libc_signal.h:36:8: note: originally defined here struct sigevent ^~~~~~~~ In file included from /opt/gcc-arm-none-eabi-7-2018-q2-update/arm-none-eabi/include/signal.h:6:0, from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/libc/libc_signal.h:72, from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/rtlibc.h:21, from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/rtdef.h:1104, from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/rtthread.h:24, from /home/bingo/project/FMT-Firmware/rtos/rt-thread/components/drivers/include/rtdevice.h:15, from /home/bingo/project/FMT-Firmware/src/include/firmament.h:23, from /home/bingo/project/FMT-Firmware/src/module/toml/toml.c:28: /opt/gcc-arm-none-eabi-7-2018-q2-update/arm-none-eabi/include/sys/signal.h:72:3: error: conflicting types for 'siginfo_t' } siginfo_t; ^~~~~~~~~ In file included from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/rtlibc.h:21:0, from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/rtdef.h:1104, from /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/rtthread.h:24, from /home/bingo/project/FMT-Firmware/rtos/rt-thread/components/drivers/include/rtdevice.h:15, from /home/bingo/project/FMT-Firmware/src/include/firmament.h:23, from /home/bingo/project/FMT-Firmware/src/module/toml/toml.c:28: /home/bingo/project/FMT-Firmware/rtos/rt-thread/include/libc/libc_signal.h:55:24: note: previous declaration of 'siginfo_t' was here typedef struct siginfo siginfo_t; ^~~~~~~~~ CC build/fmt/src/task/fmtio/task_fmtio.o CC build/fmt/src/task/logger/task_logger.o CC build/fmt/src/task/status/task_status.o CC build/fmt/src/task/vehicle/multicopter/task_vehicle.o scons: *** [build/fmt/src/module/toml/toml.o] Error 1 scons: building terminated because of errors.

"基于模型设计提供更高效的开发体验以及更轻松的调试方式 " ，一直很向往MBD的开发方式，但平时工作没有使用过这种方式。 主要是自己能力上欠缺，另一方面是目前调试的硬件还不能支持MBD方式，芯片flash不够，也没有足够的引脚来接个SD卡，用来记录日志，平时调试都是用很多时间来换取一般效果。（用PIX4板子是可以的，但工作上用不上）

希望MBD方式发扬光大，在飞控这一块大放异彩。FMT是一个里程碑。

I have successfully comipled the project, and download fmt_cuav-v5+.bin the qgc. But the firmware can't startup, the debug console print the following message: