可以接受数据，目前可能会死机，需要验证

MavLinkNode/mavlinknode.cpp

@@ -70,29 +70,32 @@ void MavLinkNode::stop()
 void MavLinkNode::process()//线程函数
 {
     uint8_t count = 0;
+    QByteArray datagram = NULL;
     while (running_flag)
     {
          count ++;
-         QThread::msleep(1000/running_frq);//50Hz
-
-         QByteArray datagram = NULL;
+         QThread::msleep(1000/running_frq);
 
          //解码从UDP来的
          datagram.clear();
          datagram = readbuff(SourceType::c_sock);//每次全部读取
+
+         //qDebug() << datagram;
+
+
          if(!datagram.isEmpty())
          {
               Mavlinkparse(SourceType::c_sock,datagram);
          }
-
+/*
          //解码从串口来的
          datagram.clear();
-         datagram = readbuff(SourceType::c_sock);//每次全部读取
+         datagram = readbuff(SourceType::s_port);//每次全部读取
          if(!datagram.isEmpty())
          {
-              Mavlinkparse(SourceType::c_sock,datagram);
+              Mavlinkparse(SourceType::s_port,datagram);
          }
-
+         */
     }
     //退出线程
     Nodethread->quit();
@@ -115,15 +118,16 @@ void MavLinkNode::setbuff(quint32 src,QByteArray data)
 {
     switch (src) {
     default:
-    case 0:
+    case SourceType::c_sock:
            //当前的buff超过10M字节之后就清除，防爆机制，不然buff太大后容易卡死
            if(client_buff.buff[client_buff.select].size() >= client_buff.max_size)
            {
                client_buff.buff[client_buff.select].clear();
            }
            client_buff.buff[client_buff.select].append(data);
+          //qDebug() << "set buff";
         break;
-    case 1:
+    case SourceType::s_port:
         //当前的buff超过10M字节之后就清除，防爆机制，不然buff太大后容易卡死
            if(serial_buff.buff[serial_buff.select].size() >= serial_buff.max_size)
            {
@@ -138,8 +142,6 @@ QByteArray MavLinkNode::readbuff(quint32 src)
 {
     QByteArray datagram;
 
-    //从buff里面读取
-
     switch (src) {
     default:
     case SourceType::c_sock:
@@ -151,7 +153,7 @@ QByteArray MavLinkNode::readbuff(quint32 src)
            }
            else if(client_buff.select == 1)
            {
-               datagram.setRawData(client_buff.buff[1],client_buff.buff[1].size());
+               datagram.setRawData(client_buff.buff[0],client_buff.buff[0].size());
                //读取完成，可以往这个内存里面写数了
                client_buff.select = 0;
            }
@@ -165,12 +167,15 @@ QByteArray MavLinkNode::readbuff(quint32 src)
            }
            else if(serial_buff.select == 1)
            {
-               datagram.setRawData(serial_buff.buff[1],serial_buff.buff[1].size());
+               datagram.setRawData(serial_buff.buff[0],serial_buff.buff[0].size());
                //读取完成，可以往这个内存里面写数了
                serial_buff.select = 0;
            }
         break;
     }
+
+    //qDebug() << datagram;
+
     return datagram;
 }
 
@@ -186,7 +191,6 @@ void MavLinkNode::Mavlinkparse(quint32 src,QByteArray datagram)
         if(MAVLINK_FRAMING_OK == mavlink_parse_char(src,*i,&msg,&status))
         {
             MAVLinkRcv_Handler(msg);                 //接收完一帧数据并处理
-            //qDebug() << "re";
         }
         else
         {
@@ -214,6 +218,7 @@ void MavLinkNode::MAVLinkRcv_Handler(mavlink_message_t msg)
          }break;
        case MAVLINK_MSG_ID_ATTITUDE: {
            mavlink_msg_attitude_decode(&msg,&vehicle.attitude);
+           qDebug() << "vehicle.attitude.pitch" << vehicle.attitude.pitch;
         }break;
         case MAVLINK_MSG_ID_GPS_RAW_INT: {
            mavlink_msg_gps_raw_int_decode(&msg,&vehicle.gps_raw_int);
@@ -282,7 +287,7 @@ void MavLinkNode::MAVLinkRcv_Handler(mavlink_message_t msg)
      //最后更新一下界面
      //emit vehicleUpdate();
 
-    qDebug() << vehicle.heartbeat.type;
+
 
 }