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准备增加多航线功能

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hm
2022-04-09 15:29:44 +08:00
parent 8727624b4c
commit 4ba7db7cf6
34 changed files with 1558 additions and 1106 deletions
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opmap/mapwidget/opmapwidget.cpp
+21 -55
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@@ -1397,6 +1397,7 @@ void OPMapWidget::WPotherPoint(int number)
{
int position = 0;
foreach(QGraphicsItem * i, map->childItems()) {
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
@@ -1412,6 +1413,9 @@ void OPMapWidget::WPotherPoint(int number)
position = number;
}
//position = number;
WayPointItem *wp = WPFind(position);
if(wp)
@@ -1799,13 +1803,13 @@ void OPMapWidget::WPLoad(QString path)//带文件目录参数
//Item->setParent(map);
qDebug() << "autocontinue" << autocontinue;
//qDebug() << "autocontinue" << autocontinue;
emit setWPProperty(param1,param2,param3,param4,
x,y,z,
seq,
0,
currentGroup,//当前组
command,
0,
0,
@@ -1896,7 +1900,7 @@ void OPMapWidget::WPSave(QString path)//带文件目录参数
item.insert("doJumpId",w->Number());
item.insert("frame",w->Frame());
item.insert("params",params);
item.insert("type","SimpleItem");
item.insert("type",w->MissionType());
//这里有问题
items.append(item);
@@ -1912,58 +1916,6 @@ void OPMapWidget::WPSave(QString path)//带文件目录参数
}
/*
foreach(QGraphicsItem * i, map->childItems()) {
WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
if (w) {//逐渐往下增加
if(w->Number()>0)
{
//存到items
QJsonArray params;
params.append(w->Param1());
params.append(w->Param2());
params.append(w->Param3());
params.append(w->Param4());
params.append(w->Coord().Lat());
params.append(w->Coord().Lng());
params.append(w->Alt());
//可能有点问题
QJsonObject item;
//如果这个点是指令，那么不会有高度信息
if(w->Command() < MAV_CMD::MAV_CMD_NAV_LAST) {
item.insert("AMSLAltAboveTerrain",w->Alt());
item.insert("Altitude",w->Alt());
item.insert("AltitudeMode",2);
}
item.insert("autoContinue",w->AutoContinue()?true:false);
item.insert("command",w->Command());
item.insert("doJumpId",w->Number());
item.insert("frame",w->Frame());
item.insert("params",params);
item.insert("type","SimpleItem");
//这里有问题
items.append(item);
}
if(w->Number() == 1)
{
plannedHomePosition.append(w->Coord().Lat());
plannedHomePosition.append(w->Coord().Lng());
plannedHomePosition.append(w->Alt());
}
}
}
*/
@@ -2092,6 +2044,20 @@ void OPMapWidget::WPUpload(void)
}
}
}
}
void OPMapWidget::WPGroup(int value)
{
currentGroup = value;
qDebug() << "group" << value;
//切换当前航线
}