指令可以在线载入，语音播报高度速度

App/mainwindow.cpp

@@ -215,6 +215,10 @@ MainWindow::MainWindow(QWidget *parent)
     connect(map,SIGNAL(WPProperty(float,float,float,float,int32_t,int32_t,float,uint16_t,uint16_t,uint16_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t)),
             dlink->mavlinknode->Mission,SLOT(transmitPoint(float,float,float,float,int32_t,int32_t,float,uint16_t,uint16_t,uint16_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t,uint8_t)),Qt::DirectConnection);
 
+    connect(dlink->mavlinknode->Mission,SIGNAL(clearWaypoint()),
+            map,SLOT(WPDeleteAll()));
+
+
     connect(dlink->mavlinknode,SIGNAL(addVehicles(int,int)),
             map,SLOT(addUAV(int,int)));
 
@@ -555,6 +559,9 @@ void MainWindow::updateUI()//事件驱动式更新数据
     bool isCustomChanged = false;
     bool isStateChanged = false;
 
+    static quint64 lastTime = QDateTime::currentMSecsSinceEpoch();
+
+
 
     /*
     static int frq_count = 0;
@@ -647,6 +654,24 @@ void MainWindow::updateUI()//事件驱动式更新数据
     switch (state) {
     case MAV_MODE_FLAG_SAFETY_ARMED:
         arm_str.append(tr("ARM"));
+
+        if(tts)
+        {
+            if((QDateTime::currentMSecsSinceEpoch() - lastTime) >= 5000)
+            {
+               lastTime = QDateTime::currentMSecsSinceEpoch();
+
+               QString status;
+
+               status.append(tr("高度:%1").arg(QString::number(dlink->mavlinknode->vehicle.global_position_int.relative_alt * 0.001,'f',0)));
+               status.append(tr("速度:%1").arg(QString::number(dlink->mavlinknode->vehicle.vfr_hud.airspeed,'f',0)));
+
+               tts->say(status);
+            }
+        }
+
+
+
         break;
     case 0:
         arm_str.append(tr("DISARM"));
@@ -741,6 +766,8 @@ void MainWindow::updateUI()//事件驱动式更新数据
 
 
 
+
+
     //经纬度大于正常值，将舍弃
 
     double lat = (double)(dlink->mavlinknode->vehicle.gps_raw_int.lat * 10e-8);