多机管理完成

2020-06-02 18:39:43 +08:00
parent 9c69cd6522
commit eb7e7913e1
14 changed files with 215 additions and 158 deletions
@@ -78,6 +78,13 @@ void commandprocess::process()//线程函数
    thread = nullptr;
 }

+void commandprocess::setID(int m_sysid,int m_compid)
+{
+    //qDebug() << "command set id";
+    sysid = (uint8_t)m_sysid;
+    compid = (uint8_t)m_compid;
+}
+
 void commandprocess::SendMessage(mavlink_message_t msg)
 {
    uint8_t  buff[256+20];
@@ -95,8 +102,8 @@ void commandprocess::WriteCmd(uint8_t m_sysid, uint8_t m_compid ,
                              int32_t y,
                              float z, uint16_t command, uint8_t frame, uint8_t current, uint8_t autocontinue)
 {
-     sysid = m_sysid;
-     compid = m_compid;
+     //sysid = m_sysid;
+     //compid = m_compid;

     //给指令赋值
     cmd_int.param1 = param1;