b

opmap/mapwidget/opmapwidget.cpp

@@ -706,12 +706,16 @@ void OPMapWidget::ConnectWP(WayPointItem *item)
     connect(this, SIGNAL(setWPProperty(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)),
             item, SLOT(setWPProperty(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(item, SIGNAL(WPFollowPrevious(bool,WayPointItem*)),
+            this, SLOT(WPFollowPrevious(bool,WayPointItem*)));
+
 
     //生成后立即选中，并且把信息发给ui界面
     setSelectedWP(item);
     item->emitWPProperty();
 
 
+
     //WPsearchall();
 
 }
@@ -885,6 +889,40 @@ void OPMapWidget::setWPCreate(bool const & value)
     isWPCreate = value;
 }
 
+
+
+void OPMapWidget::WPFollowPrevious(bool flag,WayPointItem *waypoint)
+{
+
+    if(flag)
+    {
+        WayPointItem *item = WPFind(waypoint->Number() - 1);
+
+        if(item)
+        {
+            QPointF pos = item->pos();
+            pos.setX(pos.x() + waypoint->boundingRect().width());
+
+            //waypoint->WPSetEdit(false);
+
+            waypoint->setPos(pos);
+           // waypoint->
+
+
+
+
+        }
+
+
+
+    }
+
+
+    qDebug() << "set position";
+
+}
+
+
 void OPMapWidget::WPLoad(void)//带文件目录参数
 {
     qDebug() << "WPLoad";

opmap/mapwidget/opmapwidget.h

@@ -572,6 +572,9 @@ public slots:
     WayPointItem *WPInsert(const distBearingAltitude &relative, const QString &description, const int &position);
 
 
+    void WPFollowPrevious(bool flag,WayPointItem *waypoint);
+
+
     void WPLoad(void);
     void WPSave(void);
     void WPDownload(void);

opmap/mapwidget/waypointitem.cpp

@@ -312,6 +312,7 @@ void WayPointItem::mouseMoveEvent(QGraphicsSceneMouseEvent *event)
 {
 
     if (isDragging) {
+
         emit localPositionChanged(this->pos(), this);
         emit WPValuesChanged(this);
     }
@@ -544,7 +545,9 @@ void WayPointItem::setWPProperty(float param1,float param2,float param3,float pa
 {
     if(seq == property.seq)
     {
-         qDebug() << seq << "set property";
+        qDebug() << seq << "set property";
+
+
 
         property.param1 = param1;
         property.param2 = param2;
@@ -560,6 +563,17 @@ void WayPointItem::setWPProperty(float param1,float param2,float param3,float pa
         property.current = current;
         property.autocontinue = autocontinue;
         property.mission_type = mission_type;
+
+        if(command > MAV_CMD::MAV_CMD_NAV_LAST)
+        {
+            qDebug() << "is cmd point";
+            emit WPFollowPrevious(true,this);
+        }
+        else
+        {
+            emit WPFollowPrevious(false,this);
+        }
+
     }
 }
 

opmap/mapwidget/waypointitem.h

@@ -322,6 +322,11 @@ public slots:
 
 
 signals:
+
+
+    void WPFollowPrevious(bool flag,WayPointItem *waypoint);
+
+
     void WPProperty(float param1,float param2,float param3,float param4,
                          int32_t x,int32_t y,float z,
                          uint16_t seq,