修改航线，参数，消息等

Vehicle.cpp

@@ -1,8 +1,35 @@
 #include "Vehicle.h"
 
+
+/*
+ *    1. 判断飞机是否丢失信号
+ *    2. 状态更新（飞机从数据链发来的数据）
+ *    3. 选择发beep声
+ *    4. 飞机自身状态（如选中）
+ *    5. 组别情况
+ *    6. 所有的指令，参数，航线，都通过飞机自己发送，飞机跟自己特定的数据链相连
+ *    7. 记录所有发过的指令等
+ */
+
+
 Vehicle::Vehicle(QObject *parent) : QObject(parent)
 {
-    //WayPointGroup.begin().value().begin().value()
+    qint32 group = 0;//没有任何组别
+    bool select = false;
+
+    qint32 sysid = 1;
+
+
+    //数据链 地址等信息
+
+    //参数
+
+    //航线
+
+    //指令
+
+    //记录
+
 
 }
 
@@ -11,25 +38,78 @@ Vehicle::~Vehicle()
 
 }
 
+void Vehicle::_Handler(mavlink_message_t msg)
+{
+        //用于给参数添加设备，便于读取
+
+        switch (msg.msgid) {
+        //航线部分
+        case MAVLINK_MSG_ID_MISSION_REQUEST_LIST:
+        case MAVLINK_MSG_ID_MISSION_COUNT:
+        case MAVLINK_MSG_ID_MISSION_REQUEST_INT:
+        case MAVLINK_MSG_ID_MISSION_REQUEST:
+        case MAVLINK_MSG_ID_MISSION_ITEM_INT:
+        case MAVLINK_MSG_ID_MISSION_ITEM:
+        case MAVLINK_MSG_ID_MISSION_ACK:
+        case MAVLINK_MSG_ID_MISSION_CURRENT:
+        case MAVLINK_MSG_ID_MISSION_SET_CURRENT:
+        case MAVLINK_MSG_ID_MISSION_CLEAR_ALL:
+        case MAVLINK_MSG_ID_MISSION_ITEM_REACHED:
+        case MAVLINK_MSG_ID_MISSION_REQUEST_PARTIAL_LIST:
+        case MAVLINK_MSG_ID_MISSION_WRITE_PARTIAL_LIST:
+           //Mission->Parse(msg);
+        break;
+
+        //参数
+        case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
+        case MAVLINK_MSG_ID_PARAM_REQUEST_READ:
+        case MAVLINK_MSG_ID_PARAM_SET:
+        case MAVLINK_MSG_ID_PARAM_VALUE:
+           //Parameter->Parse(msg);
+        break;
+
+        //命令
+        case MAVLINK_MSG_ID_COMMAND_INT:
+        case MAVLINK_MSG_ID_COMMAND_LONG:
+        case MAVLINK_MSG_ID_COMMAND_ACK:
+           //Commander->Parse(msg);
+        break;
+
+        //终端
+        case MAVLINK_MSG_ID_SERIAL_CONTROL:
+           //Terminal->Parse(msg);
+        break;
+
+
+        //状态
+        default:
+            //StatusParse(msg);
+         break;
+
+        }
+}
+
+
+
 void Vehicle::setType(int t)
 {
+    Q_UNUSED(t)
     //type = t;
 }
 
-void Vehicle::setMsg(int idx,int m)
+void Vehicle::setMsg(mavlink_message_t *msg)
 {
-   Q_UNUSED(idx)
-   Q_UNUSED(m)
+   messages.insert(msg->msgid,msg);
 }
 
-void Vehicle::setParam(int idx, param *p)
+void Vehicle::setParam(mavlink_param_value_t *param)
 {
-    params.insert(idx,p);
+   parameters.insert(param->param_index,param);
 }
 
-void Vehicle::setMission(int idx, item_int * i)
+void Vehicle::setMission(mavlink_mission_item_int_t * item)
 {
-    //waypoint.insert(idx,i);
+    waypoints.insert(item->seq,item);
 }
 
 

Vehicle.h

@@ -3,12 +3,12 @@
 
 #include "VehicleManage_global.h"
 #include <QObject>
-
-
+#include "QIcon"
 #include "QHash"
 #include "QMap"
-#include "VehicleType.h"
+#include "QDebug"
 
+#include "mavlink.h"
 
 /*
 
@@ -46,9 +46,9 @@ public slots:
 
     void setType(int t);
 
-    void setMsg(int idx, int m);
-    void setParam(int idx,param *p);
-    void setMission(int idx, item_int *i);
+    void setMsg(mavlink_message_t *msg);
+    void setParam(mavlink_param_value_t *param);
+    void setMission(mavlink_mission_item_int_t *item);
 
 
 private slots:
@@ -56,13 +56,62 @@ private slots:
 
 private:
 
+    //基本信息
+
+    QIcon icon = "fixwing.png";
+    QColor tailColor = "#026F80";
+    QColor wayColor = "#F09382";
+
+    int sysid = 0;
     bool isSeleted = false;
+    int type = 0;//设备类型
 
-    int sysid;
+    bool arm;
+    int flightmode;
+
+    bool heartbeat = false;
+    bool isOnline = false;
+
+    //惯性
+    qreal roll;
+    qreal pitch;
+    qreal yaw;
+
+    qreal p;
+    qreal q;
+    qreal r;
+
+    qreal ax;
+    qreal ay;
+    qreal az;
+
+    //导航
+    double lat;
+    double lng;
+    qreal RelativeAltitude;//相对海拔
+    qreal AbsoluteAltitude;//绝对海拔
+
+    qreal groudspeed;
+    qreal heading;
+
+    int fixType;
+    int Satellites;
+
+    //大气
+    qreal tas;
+    qreal cas;
+    qreal Ma;
+    qreal alpha;
+    qreal beta;
+
+    //控制
 
 
 
-    state m_state;
+
+
+
+    //state m_state;
 
     /*
      *       航线组
@@ -77,13 +126,14 @@ private:
      *
      */
 
-    QMap<int,QMap<int,item_int *>> WayPointGroup;//航线组
+    QMap<int,mavlink_mission_item_int_t *> waypoints;//航线组
 
 
-    QMap<int,int> msg;
-    QMap<int,param *> params;
+    QMap<quint32,mavlink_message_t *> messages;
 
 
+    QMap<int,mavlink_param_value_t *> parameters;
+
 
 
 

VehicleManage.cpp

@@ -1,5 +1,6 @@
 #include "VehicleManage.h"
 
+
 VehicleManage::VehicleManage()
 {
 
@@ -24,7 +25,7 @@ void VehicleManage::setMsg(int sysid,int s)
     Vehicle *v = Vehicles.value(sysid);
 
 
-    v->setMsg(s,s);
+    //v->setMsg(s,s);
 
 }
 

VehicleManage.pro

@@ -1,4 +1,4 @@
-QT -= gui
+QT += gui
 
 TEMPLATE = lib
 DEFINES += VEHICLEMANAGE_LIBRARY
@@ -29,6 +29,7 @@ MOC_DIR         = $$PWD/../build
 OBJECTS_DIR     = $$PWD/../build
 
 #添加mavlink目录
+#INCLUDEPATH += $$PWD/../mavlink
 INCLUDEPATH += $$PWD/../mavlink \
                $$PWD/../mavlink/ardupilotmega \
                $$PWD/../mavlink/common \