添加惯导状态字，修正航线传输没有航点时的bug

opmap/mapwidget/opmapwidget.cpp

@@ -1603,6 +1603,9 @@ void OPMapWidget::WPDownload(void)
 
 void OPMapWidget::WPUpload(void)
 {
+
+
+
       //发送第一个
      QList<mapcontrol::WayPointItem *> list;
      //先发送一个清空指令
@@ -1612,18 +1615,35 @@ void OPMapWidget::WPUpload(void)
              list.append(w);
              w->emitWPProperty();
 
-             w->setVisible(false);
+             //w->setVisible(false);
          }
      }
 
+
+
+
+
+     /*
      foreach(QGraphicsItem * i, map->childItems()) {
          WayPointLine *l = qgraphicsitem_cast<WayPointLine *>(i);
          if (l) {
              l->setVisible(false);
          }
      }
+     */
 
-     qDebug() << "WPUpload" << list.size();
+
+     //qDebug() << "WPUpload" << list.size();
+
+
+     if(list.size() <= 0)
+     {
+         emit showMessage(tr("please create a plan"));
+         return;
+     }
+
+
+     emit showMessage(tr("start to send mossion %1").arg(list.size()));
 
      //选择当前ID号
 
@@ -1648,6 +1668,47 @@ void OPMapWidget::WPUpload(void)
 
  void OPMapWidget::WPSendItemOK(uint16_t seq, bool flag)
  {
+     if(flag == true)
+     {
+         QString str;
+
+         str.append(tr("send way point %1").arg(seq));
+         emit showMessage(str);
+     }
+     else
+     {
+         QString str;
+
+         str.append(tr("fail to send %1").arg(seq));
+         emit showMessage(str);
+     }
+
+
+
+     /*
+     if(flag == true)
+     {
+         foreach(QGraphicsItem * i, map->childItems()) {
+             WayPointItem *w = qgraphicsitem_cast<WayPointItem *>(i);
+             if (w) {
+                 if(w->Number() == (seq))
+                 {
+                     w->setVisible(true);
+
+                     foreach(QGraphicsItem * i, map->childItems()) {
+                         WayPointLine *l = qgraphicsitem_cast<WayPointLine *>(i);
+                         if (l) {
+                             if(l->WPLineTo() == w)
+                             l->setVisible(true);
+                         }
+                     }
+                 }
+             }
+         }
+     }
+     */
+
+     /*
      if(flag == true)
      {
          foreach(QGraphicsItem * i, map->childItems()) {
@@ -1680,6 +1741,8 @@ void OPMapWidget::WPUpload(void)
              if (l) l->setVisible(true);
          }
      }
+     */
+
  }
 
 //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
@@ -1699,6 +1762,11 @@ void OPMapWidget::receivedPoint(float param1,float param2,float param3,float par
             qDebug() << "receivers Point";
             //         << QThread::currentThreadId();
 
+
+           emit showMessage(tr("recieve way point %1").arg(seq + 1));
+
+
+
             //qDebug() << "receivers Point" << x * 10e-8 << y * 10e-8 << 10e-8;
 
             internals::PointLatLng LatLng;
@@ -1710,21 +1778,6 @@ void OPMapWidget::receivedPoint(float param1,float param2,float param3,float par
 
             Item->SetNumber(seq+1);
 
-            if(command > MAV_CMD::MAV_CMD_NAV_LAST)
-            {
-
-            }
-            else
-            {
-                //WPLineCreate(WPFind(Item->Number() - 1),Item,Qt::green,false,2);
-            }
-
-            //Item->setParent(map);
-
-
-
-
-
             emit setWPProperty(param1,param2,param3,param4,
                                x,y,z,
                                seq+1,