b

MavLinkNode/missionprocess.cpp

@@ -115,29 +115,38 @@ void MissionProcess::SendMessage(mavlink_message_t msg)
 
 void MissionProcess::ReadCmd(uint8_t m_sysid, uint8_t m_compid)
 {
-    mission_status.m_Mode = RecieveMode;//接收模式
+    if(mission_status.m_Mode != RecieveMode)//没有任务正在下载
+    {
+        mission_status.m_Mode = RecieveMode;//接收模式
 
-    qDebug() << "read mission" << sysid << compid;
+        qDebug() << "read mission" << sysid << compid;
 
-    start();//开启线程
+        start();//开启线程
+    }
 }
 
 void MissionProcess::WriteCmd(uint8_t m_sysid, uint8_t m_compid ,uint32_t count )
 {
-    mission_status.transmit.type = 0;
-    mission_status.transmit.count = count;
-    mission_status.m_Mode = TransmitMode;//发送模式
-    qDebug() << "write mission" << sysid << compid;
-    start();//开启线程
+    if(mission_status.m_Mode != TransmitMode)//没有任务在上传
+    {
+        mission_status.transmit.type = 0;
+        mission_status.transmit.count = count;
+        mission_status.m_Mode = TransmitMode;//发送模式
+        qDebug() << "write mission" << sysid << compid;
+        start();//开启线程
+    }
 }
 
 
 void MissionProcess::SetCurrentPoint(int seq)
 {
-    mission_status.transmit.type = 1;
-    mission_status.m_Mode = TransmitMode;//发送模式
-    mission_status.transmit.seq = seq - 1;
-    //start();//开启线程
+    if(mission_status.m_Mode != TransmitMode)//没有任务在上传
+    {
+        mission_status.transmit.type = 1;
+        mission_status.m_Mode = TransmitMode;//发送模式
+        mission_status.transmit.seq = seq - 1;
+        start();//开启线程
+    }
 }
 
 
@@ -176,7 +185,7 @@ void MissionProcess::transmitPoint(float param1,float param2,float param3,float
     items.insert(item.seq,item);
 
 
-
+/*
     foreach (mapcontrol::WayPointItem::_property item, items) {
         qDebug() << "transmit seq"
                  << item.seq
@@ -197,6 +206,7 @@ void MissionProcess::transmitPoint(float param1,float param2,float param3,float
                  << item.autocontinue
                  << item.mission_type;
     }
+    */
 
 
 }