航点传输多次以后会出现下载错误的情况

MavLinkNode/missionprocess.cpp

@@ -173,12 +173,13 @@ void MissionProcess::transmitPoint(float param1,float param2,float param3,float
     item.autocontinue = autocontinue;
     item.mission_type = mission_type;
 
-    items.insert(seq,item);
+    items.insert(item.seq,item);
+
 
 
-/*
     foreach (mapcontrol::WayPointItem::_property item, items) {
         qDebug() << "transmit seq"
+                 << item.seq
                  << item.param1
                  << item.param2
                  << item.param3
@@ -196,7 +197,7 @@ void MissionProcess::transmitPoint(float param1,float param2,float param3,float
                  << item.autocontinue
                  << item.mission_type;
     }
-    */
+
 
 }
 
@@ -561,7 +562,7 @@ void MissionProcess::WriteStateMachine(void)
                            */
 
 
-                  if(mission_item_int.seq < mission_status.transmit.count)
+                  if(mission_item_int.seq < (mission_status.transmit.count - 1))
                   {
                       mission_status.transmit.isWaiteforRequest = true;
                   }
@@ -692,7 +693,7 @@ void MissionProcess::request(uint16_t seq)//读取请求
 }
 
 void MissionProcess::item_int(float param1,float param2,float param3,float param4,
-                                     float x,float y,float z,
+                                     int32_t x,int32_t y,float z,
                                      uint16_t seq,uint16_t command,
                                      uint8_t frame,uint8_t current,
                                      uint8_t autocontinue,uint8_t mission_type)