多航线可以上下传和修改，目前采用每次切换都要下载的方式

opmap/mapwidget/opmapwidget.cpp

@@ -804,6 +804,7 @@ WayPointItem *OPMapWidget::WPCreate()
 
     ConnectWP(item);
     item->setParentItem(map);
+    item->SetMissionType(currentGroup);
     int position = item->Number();
     emit WPCreated(position, item);
     return item;
@@ -814,12 +815,14 @@ WayPointItem *OPMapWidget::magicWPCreate()
 
     item->SetShowNumber(false);
     item->setParentItem(map);
+    item->SetMissionType(currentGroup);
     return item;
 }
 void OPMapWidget::WPCreate(WayPointItem *item)
 {
     ConnectWP(item);
     item->setParentItem(map);
+    item->SetMissionType(currentGroup);
     int position = item->Number();
     emit WPCreated(position, item);
     setOverlayOpacity(overlayOpacity);
@@ -830,6 +833,7 @@ WayPointItem *OPMapWidget::WPCreate(internals::PointLatLng const & coord, int co
 
     ConnectWP(item);
     item->setParentItem(map);
+    item->SetMissionType(currentGroup);
     int position = item->Number();
     emit WPCreated(position, item);
     setOverlayOpacity(overlayOpacity);
@@ -841,6 +845,7 @@ WayPointItem *OPMapWidget::WPCreate(internals::PointLatLng const & coord, int co
 
     ConnectWP(item);
     item->setParentItem(map);
+    item->SetMissionType(currentGroup);
     int position = item->Number();
     emit WPCreated(position, item);
     setOverlayOpacity(overlayOpacity);
@@ -852,6 +857,7 @@ WayPointItem *OPMapWidget::WPCreate(const distBearingAltitude &relativeCoord, co
 
     ConnectWP(item);
     item->setParentItem(map);
+    item->SetMissionType(currentGroup);
     int position = item->Number();
     emit WPCreated(position, item);
     setOverlayOpacity(overlayOpacity);
@@ -917,6 +923,7 @@ void OPMapWidget::WPInsert()
         ConnectWP(item);
         item->SetNumber(position);
         item->setParentItem(map);
+        item->SetMissionType(currentGroup);
         setOverlayOpacity(overlayOpacity);
 
         setSelectedWP(item);
@@ -988,6 +995,7 @@ void OPMapWidget::WPInsert(WayPointItem *item, const int &position)
     item->SetNumber(position);
     ConnectWP(item);
     item->setParentItem(map);
+    item->SetMissionType(currentGroup);
     emit WPInserted(position, item);
     setOverlayOpacity(overlayOpacity);
 }
@@ -998,6 +1006,7 @@ WayPointItem *OPMapWidget::WPInsert(internals::PointLatLng const & coord, int co
     item->SetNumber(position);
     ConnectWP(item);
     item->setParentItem(map);
+    item->SetMissionType(currentGroup);
     emit WPInserted(position, item);
     setOverlayOpacity(overlayOpacity);
     return item;
@@ -1017,6 +1026,7 @@ WayPointItem *OPMapWidget::WPInsert(internals::PointLatLng const & coord, int co
     item->SetNumber(position);
     ConnectWP(item);
     item->setParentItem(map);
+    item->SetMissionType(currentGroup);
     emit WPInserted(position, item);
     if (reloc) {
         emit WPValuesChanged(item);
@@ -1031,6 +1041,7 @@ WayPointItem *OPMapWidget::WPInsert(distBearingAltitude const & relative, QStrin
     item->SetNumber(position);
     ConnectWP(item);
     item->setParentItem(map);
+    item->SetMissionType(currentGroup);
     emit WPInserted(position, item);
     setOverlayOpacity(overlayOpacity);
     return item;
@@ -2000,23 +2011,6 @@ void OPMapWidget::WPUpload(void)
          }
      }
 
-
-
-
-
-     /*
-     foreach(QGraphicsItem * i, map->childItems()) {
-         WayPointLine *l = qgraphicsitem_cast<WayPointLine *>(i);
-         if (l) {
-             l->setVisible(false);
-         }
-     }
-     */
-
-
-     //qDebug() << "WPUpload" << list.size();
-
-
      if(list.size() <= 0)
      {
          emit showMessage("请先载入任务航线");
@@ -2046,17 +2040,107 @@ void OPMapWidget::WPUpload(void)
      }
 }
 
+
+void OPMapWidget::groupchanged(int value)
+{
+    //如果当前是在飞行界面，那么就下载，否则不动
+
+    if(isWPCreate == true)//编辑界面
+    {
+
+    }
+    else//飞行界面
+    {
+        WPDeleteAll();
+
+        int sysid = 0;
+        int compid = 0;
+
+        foreach(QGraphicsItem * i, map->childItems()) {
+            UAVItem *u = qgraphicsitem_cast<UAVItem *>(i);
+            if (u) {
+                if(u->Select() == true)
+                {
+                    sysid = u->SysID();
+                    compid = u->CompID();
+
+                    emit signal_WPDownload(sysid,compid,value);
+                }
+            }
+        }
+
+    }
+
+
+    update();
+}
+
 void OPMapWidget::WPGroup(int value)
 {
     currentGroup = value;
 
-    qDebug() << "group" << value;
+    qDebug() << "group checkout" << value;
 
-    //切换当前航线，显示当前航线，其他都隐藏，或者高亮当前
+    //切换当前航线，其他都隐藏，或者高亮当前
+
+    /*
+    foreach(QGraphicsItem * i, map->childItems()) {
+        WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
+        if (w) {
+
+            if(w->MissionType() != currentGroup)
+            {
+                w->setVisible(false);
+            }
+            else
+            {
+                w->setVisible(true);
+            }
+        }
+    }
 
 
+    foreach(QGraphicsItem * i, map->childItems()) {
+        WayPointLine *l = qgraphicsitem_cast<WayPointLine *>(i);
+        if (l) {
+
+            if(l->MissionType() != currentGroup)
+            {
+                l->setVisible(false);
+            }
+        }
+    }
+    */
+
+    //按照当前的组生成新的航点和航线
+    /*
+    WPDeleteAll();
+
+    QMap<int,WayPointItem *> group;
+
+    group = waypointgroups.value(currentGroup);
+    */
 
 
+    WPDeleteAll();
+
+    int sysid = 0;
+    int compid = 0;
+
+    foreach(QGraphicsItem * i, map->childItems()) {
+        UAVItem *u = qgraphicsitem_cast<UAVItem *>(i);
+        if (u) {
+            if(u->Select() == true)
+            {
+                sysid = u->SysID();
+                compid = u->CompID();
+
+                emit signal_WPDownload(sysid,compid,currentGroup);
+            }
+        }
+    }
+
+    update();
 
 }
 

opmap/mapwidget/opmapwidget.h

@@ -397,6 +397,8 @@ public:
     int currentGroup = 0;//编辑情况
     int currentMissionType = 0;
 
+    QMap<int,QMap<int,WayPointItem *>> waypointgroups;//group index point
+
 
     void SetShowUAV(bool const & value);
     bool ShowUAV() const
@@ -459,7 +461,7 @@ public:
     }
 
 
-    QMap<int,WayPointItem *> waypointgroups;
+
 
 private:
     internals::Core *core;
@@ -630,6 +632,9 @@ signals:
 
 public slots:
 
+    void groupchanged(int value);
+
+
     void find_PointNumber();
 
     void updateMessage(void);

opmap/mapwidget/waypointitem.cpp

@@ -774,14 +774,14 @@ void WayPointItem::SetDefault(double lat,double lng,float alt,uint16_t seq)
     property.y = lng * 10e6;
     property.z = alt;
     property.seq = seq;
-    property.group = 0;
+    property.group = 3;
     property.command = MAV_CMD::MAV_CMD_NAV_WAYPOINT;
     property.target_system = 0;
     property.target_component = 0;
     property.frame = MAV_FRAME::MAV_FRAME_GLOBAL;
     property.current = 0;
     property.autocontinue = true;
-    property.mission_type = 0;
+    property.mission_type = 3;
 
     if(property.command > MAV_CMD::MAV_CMD_NAV_LAST)
     {