添加多机显示

MavLinkNode/mavlinknode.cpp

@@ -306,9 +306,7 @@ void MavLinkNode::MAVLinkRcv_Handler(mavlink_message_t msg)
 {
         //用于给参数添加设备，便于读取
         //qDebug() << "msg.sysid" <<msg.sysid << "msg.compid" << msg.compid;
-
-        Parameter->paramInspect->addVehicles(msg.sysid);
-
+        CheckVehicle(msg.sysid,msg.compid);
 
         switch (msg.msgid) {
         //状态
@@ -450,7 +448,21 @@ void MavLinkNode::CommandParse(mavlink_message_t msg)
 }
 
 
-
+void MavLinkNode::CheckVehicle(int sysid,int compid)
+{
+     if(!vehicleList.contains(sysid))
+     {
+         vehicleList.insert(sysid,compid);
+         Parameter->paramInspect->addVehicles(sysid,compid);
+
+         emit addVehicles(sysid,compid);
+
+         for (QHash<int,int>::iterator i = vehicleList.begin();i!= vehicleList.end();++i)
+         {
+             qDebug() << "add vehicle" << i.key() << i.value();
+         }
+     }
+}