准备增加多航线功能

MavLinkNode/missionprocess.cpp

@@ -52,12 +52,13 @@ void MissionProcess::process()//线程函数
     }
 }
 
-void MissionProcess::ReadCmd(uint8_t m_sysid, uint8_t m_compid)
+void MissionProcess::ReadCmd(uint8_t m_sysid, uint8_t m_compid,uint8_t m_group)
 {
     if(mission_status.m_Mode == Nop_Mode)//没有任务正在下载
     {
         mission_status.m_Mode = RecieveMode;//接收模式
 
+        mission_status.recieve.group = m_group;
         qDebug() << "read mission" << sysid << compid;
 
     }
@@ -304,7 +305,7 @@ void MissionProcess::ReadStateMachine(void)
               qDebug() << "mission count reccieved";
               timeout_count = 0;
 
-              request_int(0);//读取0点
+              request_int(0,0);//读取0点
               time = QTime::currentTime().msecsSinceStartOfDay();
               mission_status.recieve.isWaitingforItem = true;
               step ++;
@@ -366,7 +367,7 @@ void MissionProcess::ReadStateMachine(void)
                    qDebug() << "request mission_item_int.seq+1" << (mission_item_int.seq+1);
 
                   mission_status.recieve.isWaitingforItem = true;
-                  request_int(mission_item_int.seq+1);
+                  request_int(mission_item_int.seq+1,0);
                   timeout_count = 0;
                   time = QTime::currentTime().msecsSinceStartOfDay();
 
@@ -588,7 +589,7 @@ void MissionProcess::request_list(void)//读取整列请求
     static mavlink_message_t msg;
     static mavlink_mission_request_list_t mission_request_list;
 
-     mission_request_list.mission_type = 0;
+     mission_request_list.mission_type = 0;//3，4，5，6对应 1，2，3，4
      mission_request_list.target_system = sysid;
      mission_request_list.target_component = compid;
 
@@ -610,7 +611,7 @@ void MissionProcess::count(uint16_t count)//计数值
     Send(msg);
 }
 
-void MissionProcess::request_int(uint16_t seq)//读取请求
+void MissionProcess::request_int(uint16_t seq,uint8_t type)//读取请求
 {
     static mavlink_message_t msg;
     static mavlink_mission_request_int_t mission_request_int;
@@ -624,12 +625,12 @@ void MissionProcess::request_int(uint16_t seq)//读取请求
     Send(msg);
 }
 
-void MissionProcess::request(uint16_t seq)//读取请求
+void MissionProcess::request(uint16_t seq,uint8_t type)//读取请求
 {
     static mavlink_message_t msg;
     static mavlink_mission_request_t mission_request;
 
-    mission_request.mission_type = 0;
+    mission_request.mission_type = type;
     mission_request.seq = seq;
     mission_request.target_system = sysid;
     mission_request.target_component = compid;

MavLinkNode/missionprocess.h

@@ -35,6 +35,7 @@ class MissionProcess : public ThreadTemplet
     typedef struct {
         bool isWaitingforCount;
         bool isWaitingforItem;
+        int  group;
     }_recieve;
 
     typedef struct {
@@ -65,13 +66,15 @@ public:
     _mission_ mission_status;
 
 
+    int currentGroup = 3;
+
 public slots:
 
     void Parse(mavlink_message_t msg);
 
 
     //读取航线的指令
-    void ReadCmd(uint8_t m_sysid, uint8_t m_compid);
+    void ReadCmd(uint8_t m_sysid, uint8_t m_compid, uint8_t m_group);
     void WriteCmd(uint8_t m_sysid, uint8_t m_compid ,uint32_t count );
 
 
@@ -104,8 +107,8 @@ private slots:
    //所有的相关函数
    void request_list(void);
    void count(uint16_t count);
-   void request_int(uint16_t seq);
-   void request(uint16_t seq);
+   void request_int(uint16_t seq,uint8_t type);
+   void request(uint16_t seq, uint8_t type);
    void item_int(float param1, float param2, float param3, float param4,
                  int32_t x, int32_t y, float z,
                  uint16_t seq, uint16_t command,