保存程序

MavLinkNode/parameterprocess.cpp

@@ -171,7 +171,6 @@ void ParameterProcess::Parse(mavlink_message_t msg)
     }break;
     case MAVLINK_MSG_ID_PARAM_VALUE:{//
          mavlink_msg_param_value_decode(&msg,&param_value);
-         //paramInspect->appendParameter(msg);//发送的时候需要连同当前的sysid 和 compid也发送下去
 
          emit RecieveValue(msg);
 
@@ -367,7 +366,7 @@ void ParameterProcess::set(const char *id,uint8_t type,float value)//
     param_set.target_system = sysid;
     param_set.target_component = compid;
 
-    mavlink_msg_param_set_encode(Current_sysID,MAV_COMP_ID_MISSIONPLANNER, &msg,&param_set);
+    mavlink_msg_param_set_encode(Current_sysID,Current_CompID, &msg,&param_set);
     SendMessage(msg);
 }
 
@@ -385,7 +384,7 @@ void ParameterProcess::value(float value)//一般只接收不发送
     //param_value. = sysid;
     //param_value.target_component = compid;
 
-    mavlink_msg_param_value_encode(Current_sysID,MAV_COMP_ID_MISSIONPLANNER, &msg,&param_value);
+    mavlink_msg_param_value_encode(Current_sysID,Current_CompID, &msg,&param_value);
     SendMessage(msg);
 }
 
@@ -404,7 +403,7 @@ void ParameterProcess::ext_ack(float value)
     //param_ext_ack.target_system = sysid;
     //param_ext_ack.target_component = compid;
 
-    mavlink_msg_param_ext_ack_encode(Current_sysID,MAV_COMP_ID_MISSIONPLANNER, &msg,&param_ext_ack);
+    mavlink_msg_param_ext_ack_encode(Current_sysID,Current_CompID, &msg,&param_ext_ack);
     SendMessage(msg);
 }
 
@@ -421,7 +420,7 @@ void ParameterProcess::ext_set(const char *id,uint8_t type,float value)
     param_ext_set.target_system = sysid;
     param_ext_set.target_component = compid;
 
-    mavlink_msg_param_ext_set_encode(Current_sysID,MAV_COMP_ID_MISSIONPLANNER, &msg,&param_ext_set);
+    mavlink_msg_param_ext_set_encode(Current_sysID,Current_CompID, &msg,&param_ext_set);
     SendMessage(msg);
 }
 
@@ -438,7 +437,7 @@ void ParameterProcess::ext_value(float value)
     //param_ext_value.target_system = sysid;
     //param_ext_value.target_component = compid;
 
-    mavlink_msg_param_ext_value_encode(Current_sysID,MAV_COMP_ID_MISSIONPLANNER, &msg,&param_ext_value);
+    mavlink_msg_param_ext_value_encode(Current_sysID,Current_CompID, &msg,&param_ext_value);
     SendMessage(msg);
 }
 
@@ -450,7 +449,7 @@ void ParameterProcess::request_list(void)//
     param_request_list.target_system = sysid;
     param_request_list.target_component = compid;
 
-    mavlink_msg_param_request_list_encode(Current_sysID,MAV_COMP_ID_MISSIONPLANNER, &msg,&param_request_list);
+    mavlink_msg_param_request_list_encode(Current_sysID,Current_CompID, &msg,&param_request_list);
     SendMessage(msg);
 }
 
@@ -464,7 +463,7 @@ void ParameterProcess::request_read(const char *id, int16_t index)//
     param_request_read.target_system = sysid;
     param_request_read.target_component = compid;
 
-    mavlink_msg_param_request_read_encode(Current_sysID,MAV_COMP_ID_MISSIONPLANNER, &msg,&param_request_read);
+    mavlink_msg_param_request_read_encode(Current_sysID,Current_CompID, &msg,&param_request_read);
     SendMessage(msg);
 }