修改航线从缓存读取，多任务模式

MavLinkNode/mavlinknode.cpp

@@ -937,22 +937,11 @@ void MavLinkNode::MAVLinkRcv_Handler(mavlink_message_t msg)
 
 void MavLinkNode::StatusParse(mavlink_message_t msg)
 {
-    //_vehicle vehicle = vehicleList.value(msg.sysid);
+    _vehicle vehicle = vehicleList.value(msg.sysid);
 
     vehicle.sysid = msg.sysid;
     vehicle.compid = msg.compid;
 
-/*
-    if(LocationTime)
-    {
-
-        gpsTimer.ms = LocationTime->msec();
-
-        qDebug() <<  LocationTime->hour() << LocationTime->minute() << LocationTime->msec();
-    }
-    */
-
-
     gpsTimer.ms =  QDateTime::currentDateTime().currentMSecsSinceEpoch() % 1000;
 
 
@@ -1166,17 +1155,6 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
             gpsTimer.min  = min;
             gpsTimer.sec  = sec;
 
-            /*
-            if(vehicle.ins1.satellites_visible >= 7)
-            {
-                if(!LocationTime)
-                {
-                    LocationTime = new QTime();
-                    LocationTime->setHMS(hour,min,sec);
-                    LocationTime->start();
-                }
-            }
-            */
 
 
 
@@ -1707,7 +1685,7 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
 
 
 
-        //vehicleList.insert(msg.sysid,vehicle);//直接覆盖
+        vehicleList.insert(msg.sysid,vehicle);//直接覆盖
 
         //emit signal_vehicle(vehicle);