使用GPS时间作为基准

MavLinkNode/mavlinknode.h

@@ -52,6 +52,9 @@ public:
         int sysid = 0;          /* ID of message sender system/aircraft */
         int compid = 0;         /* ID of the message sender component */
 
+        qint64 timebase;
+
+
         mavlink_autopilot_version_t autopilot_version = {0};
         mavlink_sys_status_t sys_status = {0};
         mavlink_heartbeat_t heartbeat = {0};
@@ -172,6 +175,8 @@ public:
     int infoExportID = 1;
 signals:
 
+    void setMa(qint64 time, QVariant Ma);
+
     void signal_autopilot_version(mavlink_autopilot_version_t);
     void signal_sys_status(mavlink_sys_status_t);
     void signal_heartbeat(mavlink_heartbeat_t);
@@ -348,7 +353,7 @@ protected:
 
     bool use_ins1 = false;
 
-
+    QDateTime *gpstimebase = nullptr;
 };
 
 #endif // MAVLINKNODE_H