缓存可能有点问题

MavLinkNode/commandprocess.cpp

@@ -6,7 +6,7 @@
 
 commandprocess::commandprocess(QObject *parent) : QObject(parent)
 {
-    setRunFrq(100);
+    setRunFrq(10);
 }
 
 
@@ -117,10 +117,10 @@ void commandprocess::WriteCmd_int(uint8_t m_sysid, uint8_t m_compid ,
      cmd_int.autocontinue = autocontinue;
 
      //开启线程开始传输
-
-     status.m_Mode = TransmitMode;//发送模式
      status.transmit.type = 0;
-     start();//开启线程
+     status.m_Mode = TransmitMode;//发送模式
+
+     //start();//开启线程
 
 }
 
@@ -143,7 +143,7 @@ void commandprocess::WriteCmd_long(float param1, float param2,  float param3, fl
     //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
+    //start();//开启线程
 }
 
 
@@ -173,13 +173,15 @@ void commandprocess::Parse(mavlink_message_t msg)
              break;//如果目标系统不是自己，那么就抛弃该指令
          }
 
+         qDebug() << "command_ack.result" << command_ack.result;
+
          if(command_ack.result == MAV_RESULT_ACCEPTED)
          {
              status.transmit.isWaitingforACK = false;
 
              emit commandAccepted(true,command_ack.command,command_ack.result);//广播指令反馈
 
-             qDebug() << "command_ack.result" << command_ack.result;
+
          }
          else
          {
@@ -238,7 +240,7 @@ void commandprocess::WriteStateMachine(void)
    }
    else if(step == 1)//等待返回
    {
-       if((QTime::currentTime().msecsSinceStartOfDay() - time) > 1000)
+       if((QTime::currentTime().msecsSinceStartOfDay() - time) > 5000)
        {
           timeout_count ++;
           step = 0;//返回上一个步骤
@@ -367,7 +369,7 @@ void commandprocess::_int(float param1,
     command_int.current = current;
     command_int.autocontinue = autocontinue;
 
-    mavlink_msg_command_int_encode(Current_sysID,MAV_COMP_ID_MISSIONPLANNER, &msg,&command_int);
+    mavlink_msg_command_int_encode(Current_sysID,Current_CompID, &msg,&command_int);
     SendMessage(msg);
 }
 
@@ -397,7 +399,7 @@ void commandprocess::_long(float param1,
     command_long.command = command;
     command_long.confirmation = confirmation;
 
-    mavlink_msg_command_long_encode(Current_sysID,MAV_COMP_ID_MISSIONPLANNER, &msg,&command_long);
+    mavlink_msg_command_long_encode(Current_sysID,Current_CompID, &msg,&command_long);
     SendMessage(msg);
 }