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修改回放

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This commit is contained in:
hm
2020-12-15 13:47:14 +08:00
parent 543dd019f9
commit 5018a2ab56
18 changed files with 1629 additions and 804 deletions
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MavLinkNode/commandprocess.cpp
+36 -17
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@@ -7,6 +7,9 @@
commandprocess::commandprocess(QObject *parent) : QObject(parent)
{
setRunFrq(10);
status.m_Mode = Nop_Mode;
}
@@ -105,6 +108,8 @@ void commandprocess::WriteCmd_int(uint8_t m_sysid, uint8_t m_compid ,
int32_t y,
float z, uint16_t command, uint8_t frame, uint8_t current, uint8_t autocontinue)
{
if(status.m_Mode == Nop_Mode)
{
//给指令赋值
cmd_int.param1 = param1;
cmd_int.param2 = param2;
@@ -123,7 +128,13 @@ void commandprocess::WriteCmd_int(uint8_t m_sysid, uint8_t m_compid ,
status.transmit.type = 0;
status.m_Mode = TransmitMode;//发送模式
//start();//开启线程
start();//开启线程
}
else
{
emit commandAccepted(true,command,0xFF);//广播指令反馈
//emit showMessage("Please do not operate too fast");
}
}
@@ -131,22 +142,30 @@ void commandprocess::WriteCmd_int(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, uint16_t command, uint8_t confirmation)
{
//给指令赋值
cmd_long.param1 = param1;
cmd_long.param2 = param2;
cmd_long.param3 = param3;
cmd_long.param4 = param4;
cmd_long.param5 = param5;
cmd_long.param6 = param6;
cmd_long.param7 = param7;
if(status.m_Mode == Nop_Mode)
{
//给指令赋值
cmd_long.param1 = param1;
cmd_long.param2 = param2;
cmd_long.param3 = param3;
cmd_long.param4 = param4;
cmd_long.param5 = param5;
cmd_long.param6 = param6;
cmd_long.param7 = param7;
cmd_long.command = command;
cmd_long.confirmation = confirmation;
cmd_long.command = command;
cmd_long.confirmation = confirmation;
//开启线程开始传输
status.m_Mode = TransmitMode;//发送模式
status.transmit.type = 1;
start();//开启线程
//开启线程开始传输
status.m_Mode = TransmitMode;//发送模式
status.transmit.type = 1;
start();//开启线程
}
else
{
emit commandAccepted(true,command,0xFF);//广播指令反馈
//emit showMessage("Please do not operate too fast");
}
}
//这个函数类似中断，专门处理接收到的状态
@@ -262,7 +281,7 @@ void commandprocess::WriteStateMachine(void)
//清除指令
if(status.transmit.type == 0)
{
emit commandAccepted(false,cmd_int.command,MAV_RESULT::MAV_RESULT_FAILED);
emit commandAccepted(false,cmd_int.command,0xFE);//超时
cmd_int.param1 = 0;
cmd_int.param2 = 0;
@@ -278,7 +297,7 @@ void commandprocess::WriteStateMachine(void)
}
else if(status.transmit.type == 1)
{
emit commandAccepted(false,cmd_long.command,MAV_RESULT::MAV_RESULT_FAILED);
emit commandAccepted(false,cmd_long.command,0xFE);//超时
cmd_long.param1 = 0;
cmd_long.param2 = 0;