调通遥控器，但是dlink进入死锁

MavLinkNode/mavlinknode.h

@@ -13,7 +13,7 @@
 #include "commandprocess.h"
 #include "statusprocess.h"
 #include "Terminal.h"
-
+#include "sbusparser.h"
 //#include "QAxObject"
 
 
@@ -106,6 +106,15 @@ public:
 
      float rssi = 100;
 
+     uint16_t rcin[20];
+     int rcin_cnt = 0;
+     bool rcin_update = true;
+
+     bool remote_enabled;
+
+     QByteArray rtkrawdata;
+
+
     QByteArray csvData;
 
     QByteArray autopilot_version_csv;
@@ -169,7 +178,7 @@ signals:
     void signal_servo_output_raw(mavlink_servo_output_raw_t servo);
 
 
-
+    void new_remote_ctrl(QList<uint16_t>);
 
     void updateDlink(float rssi,uint64_t byte);
     void CommuniationLost(bool);
@@ -217,9 +226,13 @@ public slots:
 
     void setGCSID(int id);
 
+    void update15Hz(void);
+    void readRemote(QByteArray datagram);
+    void readRTK(QByteArray datagram);
 
 private slots:
    //线程私有接口
+    void SendMessage(mavlink_message_t msg);
    void process();
 
    //缓存私有接口
@@ -266,9 +279,9 @@ protected:
 
     QThread *Parameterthread;
 
+    SBusParser sbus;
 
-
-
+    QTimer *gdt_timer = nullptr;
     QTimer *timer = nullptr;