b

MavLinkNode/missionprocess.h

@@ -30,17 +30,28 @@ public slots:
 
     void MissionParse(mavlink_message_t msg);
 
+
+
+    //读取航线的指令
+    void ReadCmd(uint8_t m_sysid, uint8_t m_compid);
+
+
 private slots:
    //线程私有接口
+   void SendMessage(mavlink_message_t msg);
+
    void process();
 
-
+   //定时器
+   void mTimerOut();
+   void mTimerReset(uint32_t time);
+   void mTimerStop();
 
    //航线读取传输
    void ReadMissionRequest();
 
 
-   void request_list(void);
+   void request_list(uint8_t sysid, uint8_t compid);
    void count(uint16_t count);
    void request_int(uint16_t seq);
    void request(uint16_t seq);
@@ -54,7 +65,7 @@ private slots:
              uint16_t seq,uint16_t command,
              uint8_t frame,uint8_t current,
              uint8_t autocontinue,uint8_t mission_type);
-   void ack(void);
+   void ack(uint8_t sysid, uint8_t compid);
    void current(void);
    void setcurrent(void);
    void clear_all(void);
@@ -93,7 +104,7 @@ private:
 
 
     QTimer *mTimer = nullptr;
-
+    bool ismTimerTimeOut = false;
 
 };