调整KT16健康值

MavLinkNode/rcprocess.cpp

@@ -49,9 +49,12 @@ void rcprocess::setID(int m_sysid,int m_compid)
 
 void rcprocess::Send(mavlink_message_t msg)
 {
-    uint8_t buff[MAVLINK_MAX_PACKET_LEN+sizeof(quint64)];
-    uint16_t len = mavlink_msg_to_send_buffer(buff, &msg);
-    emit SendMessageTo(0,buff, len);//使用信号和槽
+    if(running_flag)
+    {
+        uint8_t buff[MAVLINK_MAX_PACKET_LEN+sizeof(quint64)];
+        uint16_t len = mavlink_msg_to_send_buffer(buff, &msg);
+        emit SendMessageTo(0,buff, len);//使用信号和槽
+    }
 }
 
 void rcprocess::setRunFrq(uint32_t frq)
@@ -71,12 +74,6 @@ void rcprocess::start()
         //初始化buff
         initbuff();
 
-        timer = new QTimer();
-        timer->setInterval(66);
-       // connect(timer, &QTimer::timeout,
-        //        this, &rcprocess::update15Hz,Qt::DirectConnection);
-        timer->start();
-
         running_flag = true;
         thread->start();
         qDebug() << "rc thread start" << running_flag;