tan2函数除零判断

MavLinkNode/ThreadTemplet.cpp

@@ -17,7 +17,7 @@ ThreadTemplet::~ThreadTemplet()
 
     if(thread)
     {
-        delete thread;
+        thread->deleteLater();
     }
 }
 

MavLinkNode/mavlinknode.cpp

@@ -772,9 +772,13 @@ void MavLinkNode::MAVLinkRcv_Handler(mavlink_message_t msg)
         }
 }
 
+
+QMutex mutex;
+
 void MavLinkNode::StatusParse(mavlink_message_t msg)
 {
 
+    mutex.lock();
 
     _vehicle vehicle = vehicleList.value(msg.sysid);
 
@@ -841,6 +845,7 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
          case MAVLINK_MSG_ID_INS1: {
             mavlink_msg_ins1_decode(&msg,&vehicle.ins1);
 
+
             ins1_csv.append(QString::number(vehicle.ins1.time_boot_ms));          ins1_csv.append(',');
             ins1_csv.append(QString::number(vehicle.ins1.pitch));                 ins1_csv.append(',');
             ins1_csv.append(QString::number(vehicle.ins1.roll));                  ins1_csv.append(',');
@@ -867,6 +872,8 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
             ins1_csv.append(QString::number(vehicle.ins1.epv));                   ins1_csv.append(',');
             ins1_csv.append(QString::number(vehicle.ins1.satellites_visible));    ins1_csv.append('\n');
 
+            emit signal_ins1(vehicle.ins1);
+
          }break;
          case MAVLINK_MSG_ID_INS2: {
             mavlink_msg_ins2_decode(&msg,&vehicle.ins2);
@@ -897,6 +904,9 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
             ins2_csv.append(QString::number(vehicle.ins2.epv));                   ins2_csv.append(',');
             ins2_csv.append(QString::number(vehicle.ins2.satellites_visible));    ins2_csv.append('\n');
 
+
+            emit signal_ins2(vehicle.ins2);
+
          }break;
          case MAVLINK_MSG_ID_GPS_RAW_INT: {
             mavlink_msg_gps_raw_int_decode(&msg,&vehicle.gps_raw_int);
@@ -1125,9 +1135,12 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
 
 
 
-        vehicleList.insert(msg.sysid,vehicle);//直接覆盖
-        emit state_updated();
 
+        vehicleList.insert(msg.sysid,vehicle);//直接覆盖
+
+        mutex.unlock();
+
+        emit state_updated();
 }
 
 

MavLinkNode/mavlinknode.h

@@ -171,7 +171,8 @@ signals:
 
     void signal_servo_output_raw(mavlink_servo_output_raw_t servo);
 
-
+    void signal_ins1(mavlink_ins1_t ins);
+    void signal_ins2(mavlink_ins2_t ins);
 
 
     void updateDlink(float rssi,uint64_t in,uint64_t out);