添加copk的连接、

MavLinkNode/parameterprocess.cpp

@@ -17,8 +17,8 @@ ParameterProcess::ParameterProcess(QObject *parent) : QObject(parent)
     connect(paramInspect,SIGNAL(ReadCmd(uint8_t,uint8_t,uint8_t)),
             this,SLOT(ReadCmd(uint8_t,uint8_t,uint8_t)),Qt::DirectConnection);//多线程连接方式
 
-    connect(paramInspect,SIGNAL(WriteCmd(uint8_t,uint8_t,uint32_t)),
-            this,SLOT(WriteCmd(uint8_t,uint8_t,uint32_t)),Qt::DirectConnection);
+    connect(paramInspect,SIGNAL(WriteCmd(uint8_t,uint8_t,const char*,uint8_t,float)),
+            this,SLOT(WriteCmd(uint8_t,uint8_t,const char*,uint8_t,float)),Qt::DirectConnection);
 
     //隐藏
     paramInspect->hide();
@@ -130,15 +130,20 @@ void ParameterProcess::ReadCmd(uint8_t m_sysid, uint8_t m_compid,uint8_t type)
     start();//开启线程
 }
 
-void ParameterProcess::WriteCmd(uint8_t m_sysid, uint8_t m_compid ,uint32_t count )
+void ParameterProcess::WriteCmd(uint8_t m_sysid, uint8_t m_compid ,const char *id,uint8_t type,float value)
 {
-    Q_UNUSED(count);
+    //Q_UNUSED(count);
 
     sysid = m_sysid;
     compid = m_compid;
-    //mission_status.transmit.count = count;
+
     status.m_Mode = TransmitMode;//发送模式
 
+
+    memcpy(param_set.param_id,id,16);
+    param_set.param_type = type;
+    param_set.param_value = value;
+
     qDebug() << "sysid" << sysid << endl
              << "compid" << compid << endl
              << "Mode" << status.m_Mode << endl
@@ -156,7 +161,7 @@ void ParameterProcess::Parse(mavlink_message_t msg)
 
     switch (msg.msgid) {
     case MAVLINK_MSG_ID_PARAM_SET:{
-         mavlink_msg_param_set_decode(&msg,&param_set);
+         //mavlink_msg_param_set_decode(&msg,&param_set);
     }break;
     case MAVLINK_MSG_ID_PARAM_VALUE:{//
          mavlink_msg_param_value_decode(&msg,&param_value);
@@ -291,7 +296,7 @@ void ParameterProcess::WriteStateMachine(void)
        //向其他线程或者自己读取航点的数量
        status.transmit.isWaitingforValue = true;
 
-       set("id",0,1);//发送一个参数
+       set(param_set.param_id,param_set.param_type,param_set.param_value);//发送一个参数
        time = QTime::currentTime().msecsSinceStartOfDay();
        step++;//下一个阶段
    }