QGC 任务规划 航测功能 底层逻辑

基于版本：3.1.3

1，点击 左侧 航测按钮

2，MissionEditor.qml中  调用MissionController 插入复杂任务 函数

var sequenceNumber = missionController.insertComplexMissionItem(coordinate, missionController.visualItems.count)

3，MissionController.cc 中 实例化   SurveyMissionItem

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

{

    int sequenceNumber = _nextSequenceNumber();

    bool isSurvey=true;

    if(index==0)

        isSurvey=true;

    else

        isSurvey=false;

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

    SurveyMissionItem* newItem = new SurveyMissionItem(_activeVehicle, this,isSurvey);

    newItem->setSequenceNumber(sequenceNumber);

    newItem->setCoordinate(coordinate);

    _initVisualItem(newItem);

    _visualItems->insert(i, newItem);

    _complexItems->append(newItem);

    _recalcAll();

    return newItem->sequenceNumber();

}

4，MissionController  负责任务的可控制

SurveyMissionItem  具体的测绘任务

5，类 关系图 如下