串口调通，采用在其他线程的模式

MavLinkNode/commandprocess.cpp

@@ -80,8 +80,7 @@ void commandprocess::process()//线程函数
 
 void commandprocess::setID(int m_sysid,int m_compid)
 {
-    //qDebug() << "command set id";
-    sysid = (uint8_t)m_sysid;
+    sysid  = (uint8_t)m_sysid;
     compid = (uint8_t)m_compid;
 }
 
@@ -146,10 +145,6 @@ void commandprocess::WriteCmd_long(float param1, float param2,  float param3, fl
     start();//开启线程
 }
 
-
-
-
-
 //这个函数类似中断，专门处理接收到的状态
 void commandprocess::Parse(mavlink_message_t msg)
 {
@@ -177,11 +172,13 @@ void commandprocess::Parse(mavlink_message_t msg)
 
          if(command_ack.result == MAV_RESULT_ACCEPTED)
          {
+             if(cmd_long.command != command_ack.command)
+             {
+                 break;
+             }
+
              status.transmit.isWaitingforACK = false;
-
              emit commandAccepted(true,command_ack.command,command_ack.result);//广播指令反馈
-
-
          }
          else
          {