数据解析编写完成

MavLinkNode/mavlinknode.cpp

@@ -984,6 +984,8 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
             emit signal_servo_output_raw(vehicle.servo_output_raw);
 
 
+
+
          }break;
          case MAVLINK_MSG_ID_RC_CHANNELS_RAW: {
             mavlink_msg_rc_channels_raw_decode(&msg,&vehicle.rc_channels_raw);
@@ -1155,6 +1157,19 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
 
 
          }break;
+         case MAVLINK_MSG_ID_ENCAPSULATED_DATA: {
+
+            mavlink_encapsulated_data_t encapsulated_data;
+
+            mavlink_msg_encapsulated_data_decode(&msg,&encapsulated_data);
+
+            QByteArray data((const char *)encapsulated_data.data);
+
+            emit recieveData(encapsulated_data.seqnr,data);
+
+
+         }break;
+
          }
 
 

MavLinkNode/mavlinknode.h

@@ -237,6 +237,11 @@ signals:
     void setPos(int sysid,int compid,double x,double y,double z);
     void setHeading(int sysid,int compid,double x,double y,double z);
 
+
+    void recieveData(const int &id,const QByteArray &data);
+
+
+
 public slots:
     //线程对外接口
     void CreateCSV(void);