画了一个简单的qml界面用于测试指令

MavLinkNode/commandprocess.cpp

@@ -85,6 +85,49 @@ void commandprocess::SendMessage(mavlink_message_t msg)
     emit SendMessageTo(0,buff, len);//使用信号和槽
 }
 
+//发送函数
+void commandprocess::WriteCmd(uint8_t m_sysid, uint8_t m_compid ,
+                              float param1,
+                              float param2,
+                              float param3,
+                              float param4,
+                              int32_t x,
+                              int32_t y,
+                              float z, uint16_t command, uint8_t frame, uint8_t current, uint8_t autocontinue)
+{
+     sysid = m_sysid;
+     compid = m_compid;
+
+     //给指令赋值
+     cmd_int.param1 = param1;
+     cmd_int.param2 = param2;
+     cmd_int.param3 = param3;
+     cmd_int.param4 = param4;
+     cmd_int.x = x;
+     cmd_int.y = y;
+     cmd_int.z = z;
+
+     cmd_int.command = command;
+     cmd_int.frame = frame;
+     cmd_int.current = current;
+     cmd_int.autocontinue = autocontinue;
+
+     //开启线程开始传输
+
+     status.m_Mode = TransmitMode;//发送模式
+
+     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)
 {
@@ -106,6 +149,10 @@ void commandprocess::Parse(mavlink_message_t msg)
          {
              status.transmit.isWaitingforACK = false;
          }
+         else
+         {
+             //拒绝该指令
+         }
     break;
     }
 }
@@ -142,7 +189,9 @@ void commandprocess::WriteStateMachine(void)
    {
        status.transmit.isWaitingforACK = true;
 
-       //set("id",0,1);//发送一个指令
+       _int(cmd_int.param1,cmd_int.param2,cmd_int.param3,cmd_int.param4,
+            cmd_int.x,cmd_int.y,cmd_int.z,
+            cmd_int.command,cmd_int.frame,cmd_int.current,cmd_int.autocontinue);//发送一个指令
        time = QTime::currentTime().msecsSinceStartOfDay();
        step++;//下一个阶段
    }
@@ -159,6 +208,20 @@ void commandprocess::WriteStateMachine(void)
              status.m_Mode = Nop_Mode;
              status.transmit.isWaitingforACK = false;
              timeout_count = 0;
+
+             //清除指令
+             cmd_int.param1 = 0;
+             cmd_int.param2 = 0;
+             cmd_int.param3 = 0;
+             cmd_int.param4 = 0;
+             cmd_int.x = 0;
+             cmd_int.y = 0;
+             cmd_int.z = 0;
+             cmd_int.command = 0;
+             cmd_int.frame = 0;
+             cmd_int.current = 0;
+             cmd_int.autocontinue = 0;
+
           }
        }
        else
@@ -170,6 +233,19 @@ void commandprocess::WriteStateMachine(void)
                status.m_Mode = Nop_Mode;
                status.transmit.isWaitingforACK = false;
                timeout_count = 0;
+
+               //清除指令
+               cmd_int.param1 = 0;
+               cmd_int.param2 = 0;
+               cmd_int.param3 = 0;
+               cmd_int.param4 = 0;
+               cmd_int.x = 0;
+               cmd_int.y = 0;
+               cmd_int.z = 0;
+               cmd_int.command = 0;
+               cmd_int.frame = 0;
+               cmd_int.current = 0;
+               cmd_int.autocontinue = 0;
            }
        }
    }