修改指令界面

MavLinkNode/mavlinknode.cpp

@@ -28,18 +28,17 @@ MavLinkNode::MavLinkNode(QObject *parent) : QObject(parent)
     int Current_sysID = 0xFB;
     int Current_CompID = MAV_COMP_ID_MISSIONPLANNER;
 
-    CommucationOverTimer = 5000;
-
+    CommucationOverTimer = 1000;
 
     timer = new QTimer(this);
-    timer->moveToThread(thread);
+    //timer->moveToThread(thread);
     timer->setInterval(CommucationOverTimer);
 
-    connect(thread, SIGNAL(started()), timer, SLOT(start()));
+    //connect(thread, SIGNAL(started()), timer, SLOT(start()));
     connect(timer,SIGNAL(timeout()),
-            this,SLOT(TimerOut,Qt::DirectConnection));
+            this,SLOT(TimerOut()),Qt::DirectConnection);
 
-    //timer->start();
+    timer->start();
 
     qDebug() << "start timer";
 
@@ -240,6 +239,8 @@ void MavLinkNode::process()//线程函数
 {
 
 
+
+
     uint8_t count = 0;
     QByteArray datagram = nullptr;
     while (running_flag)
@@ -276,8 +277,20 @@ void MavLinkNode::process()//线程函数
 
 void MavLinkNode::TimerOut(void)
 {
-    isCommunicationLost = true;
-    qDebug() << "timeout" << "communication lost";
+    CommucationOverCount --;
+
+    if(CommucationOverCount <= 0)
+    {
+        CommucationOverCount = 0;
+        isCommunicationLost = true;
+        //qDebug() << "timeout" << "communication lost";
+
+        emit CommuniationLost(isCommunicationLost);
+    }
+    else
+    {
+        emit CommuniationLost(isCommunicationLost);
+    }
 }
 
 
@@ -396,8 +409,11 @@ void MavLinkNode::Mavlinkparse(quint32 src,QByteArray datagram)
             if(msg.sysid < 250)             //过滤地面站发过来的数据
             {
                 //timer->start();
-                isCommunicationLost = true;
 
+                CommucationOverCount = 5;
+                isCommunicationLost = false;
+
+                //emit CommuniationLost(isCommunicationLost);
 
                 MAVLinkRcv_Handler(msg);                 //接收完一帧数据并处理
                 emit recievemsg(msg);                    //将信息广播出去