删除多余线程,减少CPU支出

MavLinkNode/mavlinknode.h

@@ -205,6 +205,8 @@ signals:
     void setPos(int sysid,int compid,double x,double y,double z);
     void setHeading(int sysid,int compid,double x,double y,double z);
 
+    void Recieve(QString msg);
+
 public slots:
     //线程对外接口
     void CreateCSV(void);
@@ -222,6 +224,10 @@ public slots:
 
     void setGCSID(int id);
 
+    void setHeartbeat(QVariant state, QVariant frq );
+
+    void serial_control(void);
+    void Transmit(QString msg);
 
 private slots:
    //线程私有接口
@@ -247,6 +253,13 @@ private slots:
 
    bool setLogData(mavlink_message_t msg);
 
+   void heartbeat(uint32_t custom_mode,
+                  uint8_t type,
+                  uint8_t autopilot,
+                  uint8_t base_mode,
+                  uint8_t system_status,
+                  uint8_t mavlink_version);
+
 protected:
 
    int Current_sysID = 0xF1;
@@ -294,7 +307,16 @@ protected:
     mutable QReadWriteLock RWlock;
 
 
+    qreal heartbeatFrq = 1;
+    bool isSendHeartBeat  = false;
 
+    mavlink_heartbeat_t m_heartbeat;
+
+    QTimer *heartbeatTimer = nullptr;
+
+
+    bool isSendTerminal = false;
+    QString SerialData;
 
 
 };