make version 1.0

MavLinkNode/parameterprocess.cpp

@@ -2,27 +2,7 @@
 
 ParameterProcess::ParameterProcess(QObject *parent) : QObject(parent)
 {
-    setRunFrq(200);
-
- /*   paramInspect = new ParameterInspector();
-
-
-    qRegisterMetaType<uint8_t>("uint8_t");
-    qRegisterMetaType<uint16_t>("uint16_t");
-    qRegisterMetaType<uint32_t>("uint32_t");
-
-
-    //开启线程之后signal失效
-
-    connect(paramInspect,SIGNAL(ReadCmd(uint8_t,uint8_t,uint8_t)),
-            this,SLOT(ReadCmd(uint8_t,uint8_t,uint8_t)),Qt::DirectConnection);//多线程连接方式
-
-    connect(paramInspect,SIGNAL(WriteCmd(uint8_t,uint8_t,const char*,uint8_t,float)),
-            this,SLOT(WriteCmd(uint8_t,uint8_t,const char*,uint8_t,float)),Qt::DirectConnection);
-
-    //隐藏
-    paramInspect->hide();
-*/
+    setRunFrq(20);
 }
 
 void ParameterProcess::setRunFrq(uint32_t frq)
@@ -74,7 +54,7 @@ void ParameterProcess::process()//线程函数
     while (running_flag)
     {
          count ++;
-         QThread::msleep(1000/running_frq);
+         QThread::msleep(1000.0/running_frq);
 
          switch(status.m_Mode)
          {
@@ -120,7 +100,7 @@ void ParameterProcess::ReadCmd(uint8_t m_sysid, uint8_t m_compid,uint8_t type)
              << "type" << status.recieve.type << endl
              << "start...";
 
-    //start();//开启线程
+    start();//开启线程
 }
 
 void ParameterProcess::WriteCmd(uint8_t m_sysid, uint8_t m_compid ,const char *id,uint8_t type,float value)
@@ -156,14 +136,14 @@ void ParameterProcess::WriteCmd(uint8_t m_sysid, uint8_t m_compid ,const char *i
              << "type" << status.recieve.type << endl
              << "start...";
 
-    //start();//开启线程
+    start();//开启线程
 }
 
 
 //这个函数类似中断，专门处理接收到的状态
 void ParameterProcess::Parse(mavlink_message_t msg)
 {
-    //qDebug() << "Parameter" << msg.msgid;
+    qDebug() << "Parameter" << msg.msgid;
 
     switch (msg.msgid) {
     case MAVLINK_MSG_ID_PARAM_SET:{