udp

MavLinkNode/mavlinknode.cpp

@@ -22,7 +22,6 @@ MavLinkNode::MavLinkNode(QObject *parent) : QObject(parent)
     int Current_sysID = 0xF1;
     int Current_CompID = MAV_COMP_ID_MISSIONPLANNER;
 
-
     Mission = new MissionProcess();
     Mission->setGCSID(Current_sysID,Current_CompID);
     connect(Mission,SIGNAL(SendMessageTo(quint8,quint8*,quint16)),
@@ -34,8 +33,6 @@ MavLinkNode::MavLinkNode(QObject *parent) : QObject(parent)
     connect(Mission,SIGNAL(showMessage(QString,int)),
             this,SIGNAL(showMessage(QString,int)),Qt::DirectConnection);
 
-
-
     Parameter = new ParameterProcess();
     Parameter->setGCSID(Current_sysID,Current_CompID);
     connect(Parameter,SIGNAL(SendMessageTo(quint8,quint8*,quint16)),
@@ -44,7 +41,6 @@ MavLinkNode::MavLinkNode(QObject *parent) : QObject(parent)
     connect(Parameter,SIGNAL(showMessage(QString,int)),
             this,SIGNAL(showMessage(QString,int)),Qt::DirectConnection);
 
-
     Commander = new commandprocess();
     Commander->setGCSID(Current_sysID,Current_CompID);
     connect(Commander,SIGNAL(SendMessageTo(quint8,quint8*,quint16)),
@@ -287,8 +283,11 @@ void MavLinkNode::Mavlinkparse(quint32 src,QByteArray datagram)
     {
         if(MAVLINK_FRAMING_OK == mavlink_parse_char(src,*i,&msg,&status))
         {
-            emit recievemsg(msg);                    //将信息广播出去
-            MAVLinkRcv_Handler(msg);                 //接收完一帧数据并处理
+            if(msg.compid != Current_CompID)//过滤地面站发过来的数据
+            {
+                emit recievemsg(msg);                    //将信息广播出去
+                MAVLinkRcv_Handler(msg);                 //接收完一帧数据并处理
+            }
         }
         else
         {