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外场测试2

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hm
2020-08-07 17:15:58 +08:00
parent 898ca8f7a5
commit bc56a3f1ec
14 changed files with 375 additions and 64 deletions
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MavLinkNode/missionprocess.cpp
+6 -6
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@@ -341,7 +341,7 @@ void MissionProcess::ReadStateMachine(void)
else if(step == 1)//等待收到Count
{
//如果超时，那么重新发一次指令
if((QTime::currentTime().msecsSinceStartOfDay() - time) > 1000)
if((QTime::currentTime().msecsSinceStartOfDay() - time) > 2000)
{
step = 0;//如果超时没有收到就返回上一个步骤
timeout_count ++;
@@ -372,7 +372,7 @@ void MissionProcess::ReadStateMachine(void)
else if(step ==2)//请求航点第0个航点
{
//超过时间
if((QTime::currentTime().msecsSinceStartOfDay() - time) > 1000)
if((QTime::currentTime().msecsSinceStartOfDay() - time) > 2000)
{
timeout_count ++;
qDebug() << "mission request 0 time out " << timeout_count << "times, retry again";
@@ -399,7 +399,7 @@ void MissionProcess::ReadStateMachine(void)
else if(step ==3)//请求航点
{
//超过时间
if((QTime::currentTime().msecsSinceStartOfDay() - time) > 1000)
if((QTime::currentTime().msecsSinceStartOfDay() - time) > 2000)
{
timeout_count ++;
qDebug() << "mission request " << (mission_item_int.seq+1) << " time out " << timeout_count << "times, retry again";
@@ -470,7 +470,7 @@ void MissionProcess::WriteStateMachine(void)
else if(step == 1)//等待收到Request
{
//如果超时，那么重新发一次指令
if((QTime::currentTime().msecsSinceStartOfDay() - time) > 1000)
if((QTime::currentTime().msecsSinceStartOfDay() - time) > 2000)
{
step = 0;//返回上一个阶段
timeout_count ++;
@@ -501,7 +501,7 @@ void MissionProcess::WriteStateMachine(void)
}
else if(step == 2)
{
if((QTime::currentTime().msecsSinceStartOfDay() - time) > 1000)
if((QTime::currentTime().msecsSinceStartOfDay() - time) > 2000)
{
timeout_count ++;
if(timeout_count > 5)//如果指令发5次还没发出去，那么结束读取，并报错
@@ -567,7 +567,7 @@ void MissionProcess::WriteStateMachine(void)
}
else if(step == 3)//航线传输结束，等待ack，如果没接收到就算了，超时也结束
{
if((QTime::currentTime().msecsSinceStartOfDay() - time) > 1000)
if((QTime::currentTime().msecsSinceStartOfDay() - time) > 2000)
{
timeout_count ++;
if(timeout_count > 5)//如果指令发5次还没发出去，那么结束读取