fix cmd

App/mainwindow.cpp

@@ -41,16 +41,16 @@ MainWindow::MainWindow(QWidget *parent)
     checkUI = new CheckUI(this);
     checkUI->hide();
 
-
-
+    //---
     inspectui = new InspectUI(this);
     inspectui->hide();
 
-
+    //信息
     toolsui = new ToolsUI(this);
     toolsui->hide();
 
-
+    //指令
+    commandUI = new CommandUI(this);
 
 
     dlink = new DLink();
@@ -106,6 +106,10 @@ MainWindow::MainWindow(QWidget *parent)
             map,SLOT(setMapTypes(QVariant)));
 
 
+    //command ----- dlink
+    connect(commandUI,SIGNAL(cmd_long(float,float,float,float,float,float,float)),
+            dlink->mavlinknode->Commander,SLOT(WriteCmd_long(float,float,float,float,float,float,float)));
+
     //setting ----- dlink
 
     setting->index1->setInstallWidget(dlink->mavlinknode->Parameter->paramInspect);
@@ -184,7 +188,7 @@ MainWindow::MainWindow(QWidget *parent)
 
 
 
-    commandUI = new CommandUI(this);
+
 
 
     //刷新ui,以保证界面不卡

MavLinkNode/commandprocess.cpp

@@ -122,7 +122,18 @@ void commandprocess::WriteCmd(uint8_t m_sysid, uint8_t m_compid ,
 
 
 
-
+void commandprocess::WriteCmd_long(float param1, float param2,  float param3, float param4, float param5, float param6, float param7)
+{
+     WriteCmd(0,0,
+              param1,
+              param2,
+              param3,
+              param4,
+              param5,
+              param6,
+              param7,
+              0,0,0,0);
+}
 
 
 
@@ -148,6 +159,8 @@ void commandprocess::Parse(mavlink_message_t msg)
          if(command_ack.result == MAV_RESULT_ACCEPTED)
          {
              status.transmit.isWaitingforACK = false;
+
+             emit commandAccepted(command_ack.command);//广播指令已经接受的反馈
          }
          else
          {

MavLinkNode/commandprocess.h

@@ -56,6 +56,9 @@ public:
 
 
 public slots:
+
+    void WriteCmd_long(float param1, float param2,  float param3, float param4, float param5, float param6, float param7);
+
     //读取和写入指令
     //void ReadCmd(uint8_t m_sysid, uint8_t m_compid, uint8_t type);
     void WriteCmd(uint8_t m_sysid, uint8_t m_compid ,
@@ -114,6 +117,9 @@ signals:
    void SendMessageTo(quint8 ch, quint8 *data,quint16 len);
 
 
+
+   void commandAccepted(uint16_t);
+
 private:
    bool running_flag = false;
    quint32 running_frq = 200;//200Hz