QGC之MissionManager

最新推荐文章于 2026-04-04 10:19:51 发布

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本文介绍了QGroundControl中几种控制器(MissionController, GeoFenceController, RallyPointController)的注册方式及其在qml中的使用方法，并展示了PlanMasterController类如何初始化这些控制器并与之交互。

不仅仅是MissionController、还有GeoFenceController、还有
RallyPointController
都是qmlRegisterUncreatable类型

//不需要创建对象，直接在qml中使用？

qmlRegisterUncreatable<MissionController>
(
"QGroundControl.Controllers",1,0,"MissionControlle"
)

masterController是PlanMasterController.cc的

 PlanMasterController {
        id: masterController
        Component.onCompleted: {
            start(true /* editMode */)
            setCurrentItem(0, true)
        }
        function upload() {
            if (_activeVehicle && _activeVehicle.armed && _activeVehicle.flightMode === _activeVehicle.missionFlightMode) {
                _qgcView.showDialog(activeMissionUploadDialogComponent, qsTr("Plan Upload"), _qgcView.showDialogDefaultWidth, StandardButton.Cancel)
            } else {
                sendToVehicle()
            }
        }

        function loadFromSelectedFile() {
            fileDialog.title =          qsTr("Select Plan File")
            fileDialog.selectExisting = true
            fileDialog.nameFilters =    masterController.loadNameFilters
            fileDialog.openForLoad()
        }

        function saveToSelectedFile() {
            fileDialog.title =          qsTr("Save Plan")
            fileDialog.selectExisting = false
            fileDialog.nameFilters =    masterController.saveNameFilters
            fileDialog.openForSave()
        }

        function fitViewportToItems() {
            mapFitFunctions.fitMapViewportToMissionItems()
        }
    }

start()

在PlanMasterController.cc中

void PlanMasterController::start(bool editMode)
{
    _editMode = editMode;
    _missionController.start(editMode);
    _geoFenceController.start(editMode);
    _rallyPointController.start(editMode);

    connect(_multiVehicleMgr, &MultiVehicleManager::activeVehicleChanged, this, &PlanMasterController::_activeVehicleChanged);
    _activeVehicleChanged(_multiVehicleMgr->activeVehicle());
}