航点发送不完整问题解决

MavLinkNode/missionprocess.cpp

@@ -232,8 +232,9 @@ void MissionProcess::Parse(mavlink_message_t msg)
        }
 
        qDebug() << "recieve mission_request_int ";
-       emit sendItemOK(mission_item_int.seq,true);
        mission_item_int.seq ++;
+
+       emit sendItemOK(mission_item_int.seq,true);
        mission_status.transmit.isWaiteforRequest = false;
     }break;
     case MAVLINK_MSG_ID_MISSION_REQUEST: {
@@ -246,8 +247,10 @@ void MissionProcess::Parse(mavlink_message_t msg)
        }
 
        qDebug() << "recieve mission_request ";
-       emit sendItemOK(mission_item_int.seq,true);
+
        mission_item_int.seq ++;
+
+       emit sendItemOK(mission_item_int.seq,true);
        mission_status.transmit.isWaiteforRequest = false;
     }break;
     case MAVLINK_MSG_ID_MISSION_ITEM_INT: {
@@ -605,7 +608,7 @@ void MissionProcess::WriteStateMachine(void)
            //收到ACK
            if(mission_status.transmit.isWaiteforACK == false)
            {
-               emit sendItemOK(mission_item_int.seq,true);
+               emit sendItemOK(mission_item_int.seq+1,true);
                qDebug() << "recieve ack ,transmit compelet";
                step = 0;
                mission_item_int.seq = 0;

opmap/mapwidget/opmapwidget.cpp

@@ -1584,7 +1584,7 @@ void OPMapWidget::WPUpload(void)
          foreach(QGraphicsItem * i, map->childItems()) {
              WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
              if (w) {
-                 if(w->Number() == (seq + 1))
+                 if(w->Number() == (seq))
                  {
                      w->setVisible(true);
 
@@ -1613,8 +1613,6 @@ void OPMapWidget::WPUpload(void)
      }
  }
 
-
-
 //这个有可能是其他线程运行，导致生成的航点不对,下载得到
 void OPMapWidget::receivedPoint(float param1,float param2,float param3,float param4,
                      int32_t x,int32_t y,float z,