QGC 上传任务

基于QGC版本 V3.1.3

一，点击上传任务时，通过 qml调用 MissionController sendToVehicle 函数。

 

void MissionController::sendToVehicle(QmlObjectListModel *listObstacle)

{

    if (_activeVehicle) {

        // Convert to MissionItems so we can send to vehicle

        QList<MissionItem*> missionItems;

        for (int i=0; i<_visualItems->count(); i++) {

            VisualMissionItem* visualItem = qobject_cast<VisualMissionItem*>(_visualItems->get(i));

            if (visualItem->isSimpleItem()) {

                missionItems.append(new MissionItem(qobject_cast<SimpleMissionItem*>(visualItem)->missionItem()));

            } else {

                ComplexMissionItem* complexItem = qobject_cast<ComplexMissionItem*>(visualItem);

                QmlObjectListModel* complexMissionItems = complexItem->getMissionItems();//获取航点

                for (int j=0; j<complexMissionItems->count(); j++) {

                    missionItems.append(new MissionItem(*qobject_cast<MissionItem*>(complexMissionItems->get(j))));

                }

                delete complexMissionItems;

            }

        }

_activeVehicle->missionManager()->writeMissionItems(missionItems);

        _visualItems->setDirty(false);

        for (int i=0; i<missionItems.count(); i++) {

            delete missionItems[i];

        }

    }

 

 

 

二，

（1），任务分为 两种，简单任务（SimpleMissionItem）  和复杂任务（ComplexMissionItem），两者均继承自 VisualMissionItem  。

而航测 具体任务 则继承自 ComplexMissionItem 。

（2），上传任务时 每个简单任务 对应一个 MissionItem，而每个复杂任务对应多个 MissionItem。 

MissionItem负责将具体的 mavlink 指令进行封装。

 

三，关于航点序号的计算。

（1），简单任务，调用 insertSimpleMissionItem ，先计算序号 _nextSequenceNumber（），插入任务后 再调用 _recalcAll();

 

int MissionController::insertSimpleMissionItem(QGeoCoordinate coordinate, int i)

{

    int sequenceNumber = _nextSequenceNumber();

    SimpleMissionItem * newItem = new SimpleMissionItem(_activeVehicle, this);

    newItem->setSequenceNumber(sequenceNumber);

    newItem->setCoordinate(coordinate);

    newItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_WAYPOINT);

    _initVisualItem(newItem);

    if (_visualItems->count() == 1) {

        newItem->setCommand(MavlinkQmlSingleton::MAV_CMD_NAV_TAKEOFF);

    }

    newItem->setDefaultsForCommand();

    if ((MAV_CMD)newItem->command() == MAV_CMD_NAV_WAYPOINT) {

        double lastValue;

        MAV_FRAME lastFrame;

        if (_findLastAcceptanceRadius(&lastValue)) {

            newItem->missionItem().setParam2(lastValue);

        }

        if (_findLastAltitude(&lastValue, &lastFrame)) {

            newItem->missionItem().setFrame(lastFrame);

            newItem->missionItem().setParam7(lastValue);

        }

    }

    _visualItems->insert(i, newItem);

    _recalcAll();

    return newItem->sequenceNumber();

}

 

（2）复杂任务，调用 insertComplexMissionItem，先计算序号 _nextSequenceNumber（），插入任务后 再调用 _recalcAll();

 

int MissionController::insertComplexMissionItem(QGeoCoordinate coordinate, int i,int index)

{

    int sequenceNumber = _nextSequenceNumber();

    bool isSurvey=true;

    if(index==0)

        isSurvey=false;

    else

        isSurvey=true;

    qDebug()<<"insertComplexMissionItem"<<isSurvey<<index;

    VisualMissionItem *newItem=NULL;

    if(isSurvey)

    {

        newItem = new SurveyMissionItem(_activeVehicle, this);

    }else

        newItem = new PlantProtectionMissionItem(_activeVehicle,this);

    newItem->setSequenceNumber(sequenceNumber);

    newItem->setCoordinate(coordinate);

    _initVisualItem(newItem);

    _visualItems->insert(i, newItem);

    _complexItems->append(newItem);

    _recalcAll();

    return newItem->sequenceNumber();

}

 

（3），每个点 分配一个序号

 

int MissionController::_nextSequenceNumber(void)

{

    if (_visualItems->count() == 0) {

        qWarning() << "Internal error: Empty visual item list";

        return 0;

    } else {

        VisualMissionItem* lastItem = qobject_cast<VisualMissionItem*>(_visualItems->get(_visualItems->count() - 1));

        if (lastItem->isSimpleItem()) {

            return lastItem->sequenceNumber() + 1;

        } else {

            return qobject_cast<ComplexMissionItem*>(lastItem)->lastSequenceNumber() + 1;

        }

    }

}

 

 

void MissionController::_recalcAll(void)

{

    _recalcSequence();

    _recalcChildItems();

    _recalcWaypointLines();

}

void MissionController::_recalcSequence(void)

{

    // Setup ascending sequence numbers for all visual items

    int sequenceNumber = 0;

    for (int i=0; i<_visualItems->count(); i++) {

        VisualMissionItem* item = qobject_cast<VisualMissionItem*>(_visualItems->get(i));

        item->setSequenceNumber(sequenceNumber++);

        if (!item->isSimpleItem()) {

            ComplexMissionItem* complexItem = qobject_cast<ComplexMissionItem*>(item);

            if (complexItem) {

                sequenceNumber = complexItem->lastSequenceNumber() + 1;

            } else {

                qWarning() << "isSimpleItem == false, yet not ComplexMissionItem";

            }

        }

    }

}