b

MavLinkNode/parameterprocess.cpp

@@ -163,7 +163,7 @@ void ParameterProcess::WriteCmd(uint8_t m_sysid, uint8_t m_compid ,const char *i
 //这个函数类似中断，专门处理接收到的状态
 void ParameterProcess::Parse(mavlink_message_t msg)
 {
-
+    //qDebug() << "Parameter" << msg.msgid;
 
     switch (msg.msgid) {
     case MAVLINK_MSG_ID_PARAM_SET:{
@@ -176,7 +176,7 @@ void ParameterProcess::Parse(mavlink_message_t msg)
 
          status.recieve.isWaitingforValue = false;
          status.transmit.isWaitingforValue = false;
-         //qDebug() << "param_value.param_index" << param_value.param_index;
+         qDebug() << "param_value.param_index" << param_value.param_index;
     }break;
     case MAVLINK_MSG_ID_PARAM_EXT_ACK:{
          mavlink_msg_param_ext_ack_decode(&msg,&param_ext_ack);
@@ -225,7 +225,7 @@ void ParameterProcess::ReadStateMachine(void)//一整列
    else if(step == 1)//等待收到Item
    {
        //如果超时，那么结束
-       if((QTime::currentTime().msecsSinceStartOfDay() - time) > 2000)
+       if((QTime::currentTime().msecsSinceStartOfDay() - time) > readTimeout)
        {
 
           //做一个列表，记录谁丢了，后面单独请求
@@ -310,7 +310,7 @@ void ParameterProcess::WriteStateMachine(void)
    }
    else if(step == 1)//等待返回
    {
-       if((QTime::currentTime().msecsSinceStartOfDay() - time) > 2000)
+       if((QTime::currentTime().msecsSinceStartOfDay() - time) > sendTimeout)
        {
           timeout_count ++;
           step = 0;//返回上一个步骤