参数下载丢失问题修复，增加单独读取的逻辑

MavLinkNode/mavlinknode.cpp

@@ -1204,6 +1204,14 @@ void MavLinkNode::StatusParse(mavlink_message_t msg)
             ccmstate_csv.append(QString::number(vehicle.ccmstate.echo_seq));      ccmstate_csv.append('\n');
 
 
+         }break;
+         case MAVLINK_MSG_ID_STATUSTEXT: {
+            mavlink_statustext_t statustext;
+            mavlink_msg_statustext_decode(&msg,&statustext);
+
+
+
+
          }break;
          case MAVLINK_MSG_ID_ENCAPSULATED_DATA: {
 

MavLinkNode/mavlinknode.h

@@ -62,6 +62,8 @@ public:
         mavlink_ccmstate_t ccmstate;
         mavlink_serial_control_t serial_control;
 
+        mavlink_statustext_t statustext;
+
     }_vehicle;
 
     typedef struct

MavLinkNode/parameterprocess.cpp

@@ -112,6 +112,9 @@ void ParameterProcess::Parse(mavlink_message_t msg)
          status.recieve.isWaitingforValue = false;
          status.transmit.isWaitingforValue = false;
 
+         indexlist.append(param_value.param_index);
+
+
          qDebug() << "param_value" << param_value.param_index << param_value.param_value;
     }break;
     case MAVLINK_MSG_ID_PARAM_EXT_ACK:{
@@ -152,7 +155,7 @@ void ParameterProcess::ReadStateMachine(void)//一整列
    {
        qDebug() << "start reading parameter";
        status.recieve.isWaitingforValue = true;
-
+       indexlist.clear();
        request_list();//一整列
 
        step++;
@@ -179,7 +182,7 @@ void ParameterProcess::ReadStateMachine(void)//一整列
           }
           else
           {
-              step = 2;
+              step = 3;
               qDebug() << "parameter read fail";
           }
        }
@@ -203,12 +206,101 @@ void ParameterProcess::ReadStateMachine(void)//一整列
               }
               else
               {
-                 step ++;
+                 //整理丢失的包，下一次循环需要读取回来
+                  int last = 0;
+                  lostIndex.clear();
+                  for(QList<int>::iterator i = indexlist.begin();i != indexlist.end();i++) {
+
+                      int var = *i;
+
+                      if(var - last > 1)
+                      {
+                          //lost
+                          for(int size = var - last -1;size > 0 ;size--)
+                          {
+                              last ++;
+                              lostIndex.append(last);
+                              qDebug() << "lost" << last;
+                              emit showMessage(tr("parameter lost, index : %1").arg(last));
+                          }
+                      }
+
+                      qDebug() << "var" << var;
+
+                      last = var;
+                  }
+
+                  step ++;
+
+                  if(lostIndex.size() > 0)
+                  {
+                      status.recieve.isWaitingforValue = true;
+                      time = QTime::currentTime().msecsSinceStartOfDay();
+                      request_read("xxx",lostIndex.at(0));//读取
+                  }
               }
            }
        }
    }
-   else if(step == 2)//传输结束
+   else if(step == 2)//(检查丢失的项，继续单项请求)
+   {
+       if(lostIndex.size() == 0)
+       {
+           step ++;
+       }
+       else//have lost item
+       {
+           //如果超时，那么结束
+           if((QTime::currentTime().msecsSinceStartOfDay() - time) > readTimeout)
+           {
+              qDebug() << "parameter item read one time out,try again ";
+              timeout_count ++;
+
+              if(timeout_count < 3)
+              {
+                  status.recieve.isWaitingforValue = true;
+                  time = QTime::currentTime().msecsSinceStartOfDay();
+                  if(lostIndex.size() > 0)
+                  {
+                    request_read("xxx",lostIndex.at(0));//读取
+                  }
+                  else
+                  {
+                      step = 3;
+                  }
+              }
+              else
+              {
+                  step = 3;
+                  qDebug() << "parameter read fail";
+              }
+           }
+           else//如果没有超时
+           {
+               if(status.recieve.isWaitingforValue == false)//收到item
+               {
+                  //qDebug() << "parameter item reccieved";
+                  timeout_count = 0;
+                  time = QTime::currentTime().msecsSinceStartOfDay();
+                  //如果参数count 大于当前index，那么继续等待
+
+                  lostIndex.removeAt(0);//移除第一个，因为第一个已经收到了
+                  if(lostIndex.size() > 0)
+                  {
+
+                    status.recieve.isWaitingforValue = true;
+                    request_read("xxx",lostIndex.at(0));//读取
+
+                  }
+                  else
+                  {
+                      step ++;
+                  }
+               }
+           }
+       }
+   }
+   else if(step == 3)//传输结束
    {
       qDebug() << "step" << step << "recieve complete";
       step = 0;

MavLinkNode/parameterprocess.h

@@ -127,7 +127,8 @@ private:
    mavlink_param_ext_request_list_t param_ext_request_list;
    mavlink_param_ext_request_read_t param_ext_request_read;
 
-
+   QList<int> indexlist;
+   QList<int> lostIndex;
 
 };