UAS.cc

/*=====================================================================

PIXHAWK Micro Air Vehicle Flying Robotics Toolkit

(c) 2009, 2010 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>

This file is part of the PIXHAWK project

    PIXHAWK is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

    PIXHAWK is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with PIXHAWK. If not, see <http://www.gnu.org/licenses/>.

======================================================================*/

/**
 * @file
 *   @brief Represents one unmanned aerial vehicle
 *
 *   @author Lorenz Meier <mavteam@student.ethz.ch>
 *
 */

#include <QList>
#include <QMessageBox>
#include <QTimer>
#include <iostream>
#include <QDebug>
#include <cmath>
#include "UAS.h"
#include "LinkInterface.h"
#include "UASManager.h"
#include "MG.h"
#include "QGC.h"
#include "GAudioOutput.h"
#include "MAVLinkProtocol.h"
#include <mavlink.h>

UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
        uasId(id),
        startTime(MG::TIME::getGroundTimeNow()),
        commStatus(COMM_DISCONNECTED),
        name(""),
        links(new QList<LinkInterface*>()),
        unknownPackets(),
        mavlink(protocol),
        waypointManager(*this),
        thrustSum(0),
        thrustMax(10),
        startVoltage(0),
        currentVoltage(12.0f),
        lpVoltage(12.0f),
        mode(MAV_MODE_UNINIT),
        status(MAV_STATE_UNINIT),
        onboardTimeOffset(0),
        controlRollManual(true),
        controlPitchManual(true),
        controlYawManual(true),
        controlThrustManual(true),
        manualRollAngle(0),
        manualPitchAngle(0),
        manualYawAngle(0),
        manualThrust(0),
        receiveDropRate(0),
        sendDropRate(0),
        lowBattAlarm(false),
        positionLock(false),
        statusTimeout(new QTimer(this))
{
    color = UASInterface::getNextColor();
    setBattery(LIPOLY, 3);
    statusTimeout->setInterval(500);
    connect(statusTimeout, SIGNAL(timeout()), this, SLOT(updateState()));
}

UAS::~UAS()
{
    delete links;
}

int UAS::getUASID() const
{
    return uasId;
}

void UAS::updateState()
{
    // Position lock is set by the MAVLink message handler
    // if no position lock is available, indicate an error
    if (positionLock)
    {
        positionLock = false;
    }
    else
    {
        if (mode > (uint8_t)MAV_MODE_LOCKED && positionLock)
        {
            GAudioOutput::instance()->notifyNegative();
        }
    }
}

void UAS::setSelected()
{
    UASManager::instance()->setActiveUAS(this);
}

void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
{
    if (!links->contains(link))
    {
        addLink(link);
    }

    //qDebug() << "UAS RECEIVED" << message.sysid << message.compid << message.msgid;

    if (message.sysid == uasId)
    {
        QString uasState;
        QString stateDescription;
        QString patternPath;
        switch (message.msgid)
        {
        case MAVLINK_MSG_ID_HEARTBEAT:
            emit heartbeat(this);
            // Set new type if it has changed
            if (this->type != mavlink_msg_heartbeat_get_type(&message))
            {
                this->type = mavlink_msg_heartbeat_get_type(&message);
                emit systemTypeSet(this, type);
            }
            break;
        case MAVLINK_MSG_ID_BOOT:
            getStatusForCode((int)MAV_STATE_BOOT, uasState, stateDescription);
            emit statusChanged(this, uasState, stateDescription);
            onboardTimeOffset = 0; // Reset offset measurement
            break;
        case MAVLINK_MSG_ID_SYS_STATUS:
            {
                mavlink_sys_status_t state;
                mavlink_msg_sys_status_decode(&message, &state);

                // FIXME
                //qDebug() << "SYSTEM NAV MODE:" << state.nav_mode;

                QString audiostring = "System " + QString::number(this->getUASID());
                QString stateAudio = "";
                QString modeAudio = "";
                bool statechanged = false;
                bool modechanged = false;

                if (state.status != this->status)
                {
                    statechanged = true;
                    this->status = (int)state.status;
                    getStatusForCode((int)state.status, uasState, stateDescription);
                    emit statusChanged(this, uasState, stateDescription);
                    emit statusChanged(this->status);
                    stateAudio = " changed status to " + uasState;
                }

                if (this->mode != static_cast<unsigned int>(state.mode))
                {
                    modechanged = true;
                    this->mode = static_cast<unsigned int>(state.mode);
                    QString mode;

                    switch (state.mode)
                    {
                    case (uint8_t)MAV_MODE_LOCKED:
                        mode = "LOCKED MODE";
                        break;
                    case (uint8_t)MAV_MODE_MANUAL:
                        mode = "MANUAL MODE";
                        break;
                    case (uint8_t)MAV_MODE_AUTO:
                        mode = "AUTO MODE";
                        break;
                    case (uint8_t)MAV_MODE_GUIDED:
                        mode = "GUIDED MODE";
                        break;
                    case (uint8_t)MAV_MODE_READY:
                        mode = "READY";
                        break;
                    case (uint8_t)MAV_MODE_TEST1:
                        mode = "TEST1 MODE";
                        break;
                    case (uint8_t)MAV_MODE_TEST2:
                        mode = "TEST2 MODE";
                        break;
                    case (uint8_t)MAV_MODE_TEST3:
                        mode = "TEST3 MODE";
                        break;
                    default:
                        mode = "UNINIT MODE";
                        break;
                    }

                    emit modeChanged(this->getUASID(), mode, "");
                    modeAudio = " is now in " + mode;
                }
                currentVoltage = state.vbat/1000.0f;
                lpVoltage = filterVoltage(currentVoltage);
                if (startVoltage == 0) startVoltage = currentVoltage;
                timeRemaining = calculateTimeRemaining();
                //qDebug() << "Voltage: " << currentVoltage << " Chargelevel: " << getChargeLevel() << " Time remaining " << timeRemaining;
                emit batteryChanged(this, lpVoltage, getChargeLevel(), timeRemaining);
                emit voltageChanged(message.sysid, state.vbat/1000.0f);

                // LOW BATTERY ALARM
                float chargeLevel = getChargeLevel();
                if (chargeLevel <= 10.0f)
                {
                    startLowBattAlarm();
                }
                else
                {
                    stopLowBattAlarm();
                }

                // COMMUNICATIONS DROP RATE
                emit dropRateChanged(this->getUASID(), state.packet_drop);
                //qDebug() << __FILE__ << __LINE__ << "RCV LOSS: " << state.packet_drop;

                // AUDIO
                if (modechanged && statechanged)
                {
                    // Output both messages
                    audiostring += modeAudio + " and " + stateAudio;
                }
                else
                {
                    // Output the one message
                    audiostring += modeAudio + stateAudio;
                }
                if ((int)state.status == (int)MAV_STATE_CRITICAL || state.status == (int)MAV_STATE_EMERGENCY)
                {
                    GAudioOutput::instance()->startEmergency();
                }
                else if (modechanged || statechanged)
                {
                    GAudioOutput::instance()->stopEmergency();
                    GAudioOutput::instance()->say(audiostring);
                }
            }
            break;
        case MAVLINK_MSG_ID_RAW_IMU:
            {
                mavlink_raw_imu_t raw;
                mavlink_msg_raw_imu_decode(&message, &raw);
                quint64 time = getUnixTime(raw.usec);

                emit valueChanged(uasId, "Accel. X", raw.xacc, time);
                emit valueChanged(uasId, "Accel. Y", raw.yacc, time);
                emit valueChanged(uasId, "Accel. Z", raw.zacc, time);
                emit valueChanged(uasId, "Gyro Phi", raw.xgyro, time);
                emit valueChanged(uasId, "Gyro Theta", raw.ygyro, time);
                emit valueChanged(uasId, "Gyro Psi", raw.zgyro, time);
                emit valueChanged(uasId, "Mag. X", raw.xmag, time);
                emit valueChanged(uasId, "Mag. Y", raw.ymag, time);
                emit valueChanged(uasId, "Mag. Z", raw.zmag, time);
            }
            break;
        case MAVLINK_MSG_ID_ATTITUDE:
            //std::cerr << std::endl;
            //std::cerr << "Decoded attitude message:" << " roll: " << std::dec << mavlink_msg_attitude_get_roll(message.payload) << " pitch: " << mavlink_msg_attitude_get_pitch(message.payload) << " yaw: " << mavlink_msg_attitude_get_yaw(message.payload) << std::endl;
            {
                mavlink_attitude_t attitude;
                mavlink_msg_attitude_decode(&message, &attitude);
                quint64 time = getUnixTime(attitude.usec);
                emit valueChanged(uasId, "roll IMU", mavlink_msg_attitude_get_roll(&message), time);
                emit valueChanged(uasId, "pitch IMU", mavlink_msg_attitude_get_pitch(&message), time);
                emit valueChanged(uasId, "yaw IMU", mavlink_msg_attitude_get_yaw(&message), time);
                emit valueChanged(this, "roll IMU", mavlink_msg_attitude_get_roll(&message), time);
                emit valueChanged(this, "pitch IMU", mavlink_msg_attitude_get_pitch(&message), time);
                emit valueChanged(this, "yaw IMU", mavlink_msg_attitude_get_yaw(&message), time);
                emit valueChanged(uasId, "rollspeed IMU", attitude.rollspeed, time);
                emit valueChanged(uasId, "pitchspeed IMU", attitude.pitchspeed, time);
                emit valueChanged(uasId, "yawspeed IMU", attitude.yawspeed, time);
                emit attitudeChanged(this, mavlink_msg_attitude_get_roll(&message), mavlink_msg_attitude_get_pitch(&message), mavlink_msg_attitude_get_yaw(&message), time);
            }
            break;
        case MAVLINK_MSG_ID_LOCAL_POSITION:
            //std::cerr << std::endl;
            //std::cerr << "Decoded attitude message:" << " roll: " << std::dec << mavlink_msg_attitude_get_roll(message.payload) << " pitch: " << mavlink_msg_attitude_get_pitch(message.payload) << " yaw: " << mavlink_msg_attitude_get_yaw(message.payload) << std::endl;
            {
                mavlink_local_position_t pos;
                mavlink_msg_local_position_decode(&message, &pos);
                quint64 time = getUnixTime(pos.usec);
                emit valueChanged(uasId, "x", pos.x, time);
                emit valueChanged(uasId, "y", pos.y, time);
                emit valueChanged(uasId, "z", pos.z, time);
                emit valueChanged(uasId, "Vx", pos.vx, time);
                emit valueChanged(uasId, "Vy", pos.vy, time);
                emit valueChanged(uasId, "Vz", pos.vz, time);
                emit localPositionChanged(this, pos.x, pos.y, pos.z, time);
                emit speedChanged(this, pos.vx, pos.vy, pos.vz, time);
                //emit attitudeChanged(this, pos.roll, pos.pitch, pos.yaw, time);
                // Set internal state
                if (!positionLock)
                {
                    // If position was not locked before, notify positive
                    GAudioOutput::instance()->notifyPositive();
                }
                positionLock = true;
            }
            break;
        case MAVLINK_MSG_ID_GLOBAL_POSITION:
            //std::cerr << std::endl;
            //std::cerr << "Decoded attitude message:" << " roll: " << std::dec << mavlink_msg_attitude_get_roll(message.payload) << " pitch: " << mavlink_msg_attitude_get_pitch(message.payload) << " yaw: " << mavlink_msg_attitude_get_yaw(message.payload) << std::endl;
            {
                mavlink_global_position_t pos;
                mavlink_msg_global_position_decode(&message, &pos);
                quint64 time = getUnixTime(pos.usec);
                emit valueChanged(uasId, "lat", pos.lat, time);
                emit valueChanged(uasId, "lon", pos.lon, time);
                emit valueChanged(uasId, "alt", pos.alt, time);
                emit valueChanged(uasId, "g-vx", pos.vx, time);
                emit valueChanged(uasId, "g-vy", pos.vy, time);
                emit valueChanged(uasId, "g-vz", pos.vz, time);
                emit globalPositionChanged(this, pos.lon, pos.lat, pos.alt, time);
                emit speedChanged(this, pos.vx, pos.vy, pos.vz, time);
                // Set internal state
                if (!positionLock)
                {
                    // If position was not locked before, notify positive
                    GAudioOutput::instance()->notifyPositive();
                }
                positionLock = true;
            }
            break;
        case MAVLINK_MSG_ID_GPS_RAW:
            //std::cerr << std::endl;
            //std::cerr << "Decoded attitude message:" << " roll: " << std::dec << mavlink_msg_attitude_get_roll(message.payload) << " pitch: " << mavlink_msg_attitude_get_pitch(message.payload) << " yaw: " << mavlink_msg_attitude_get_yaw(message.payload) << std::endl;
            {
                mavlink_gps_raw_t pos;
                mavlink_msg_gps_raw_decode(&message, &pos);

                // SANITY CHECK
                // only accept values in a realistic range
               // quint64 time = getUnixTime(pos.usec);
                quint64 time = MG::TIME::getGroundTimeNow();
                emit valueChanged(uasId, "lat", pos.lat, time);
                emit valueChanged(uasId, "lon", pos.lon, time);
                // Check for NaN
                int alt = pos.alt;
                if (alt != alt)
                {
                    alt = 0;
                    emit textMessageReceived(uasId, 255, "GCS ERROR: RECEIVED NaN FOR ALTITUDE");
                }
                emit valueChanged(uasId, "alt", pos.alt, time);
                // Smaller than threshold and not NaN
                if (pos.v < 1000000 && pos.v == pos.v)
                {
                    emit valueChanged(uasId, "speed", pos.v, time);
                    //qDebug() << "GOT GPS RAW";
                    emit speedChanged(this, (double)pos.v, 0.0, 0.0, time);
                }
                else
                {
                     emit textMessageReceived(uasId, 255, QString("GCS ERROR: RECEIVED INVALID SPEED OF %1 m/s").arg(pos.v));
                }
                emit globalPositionChanged(this, pos.lon, pos.lat, alt, time);
            }
            break;
        case MAVLINK_MSG_ID_GPS_STATUS:
            {
                mavlink_gps_status_t pos;
                mavlink_msg_gps_status_decode(&message, &pos);
                for(int i = 0; i < (int)pos.satellites_visible; i++)
                {
                    emit gpsSatelliteStatusChanged(uasId, (unsigned char)pos.satellite_prn[i], (unsigned char)pos.satellite_elevation[i], (unsigned char)pos.satellite_azimuth[i], (unsigned char)pos.satellite_snr[i], static_cast<bool>(pos.satellite_used[i]));
                }
            }
            break;
        case MAVLINK_MSG_ID_PARAM_VALUE:
            {
                mavlink_param_value_t value;
                mavlink_msg_param_value_decode(&message, &value);
                emit parameterChanged(uasId, message.compid, QString((char*)value.param_id), value.param_value);
            }
            break;
        case MAVLINK_MSG_ID_DEBUG:
            emit valueChanged(uasId, QString("debug ") + QString::number(mavlink_msg_debug_get_ind(&message)), mavlink_msg_debug_get_value(&message), MG::TIME::getGroundTimeNow());
            break;
        case MAVLINK_MSG_ID_ATTITUDE_CONTROLLER_OUTPUT:
            {
                mavlink_attitude_controller_output_t out;
                mavlink_msg_attitude_controller_output_decode(&message, &out);
                quint64 time = MG::TIME::getGroundTimeNowUsecs();
                emit attitudeThrustSetPointChanged(this, out.roll/127.0f, out.pitch/127.0f, out.yaw/127.0f, (uint8_t)out.thrust, time);
                emit valueChanged(uasId, "att control roll", out.roll, time/1000.0f);
                emit valueChanged(uasId, "att control pitch", out.pitch, time/1000.0f);
                emit valueChanged(uasId, "att control yaw", out.yaw, time/1000.0f);
            }
            break;
        case MAVLINK_MSG_ID_POSITION_CONTROLLER_OUTPUT:
            {
                mavlink_position_controller_output_t out;
                mavlink_msg_position_controller_output_decode(&message, &out);
                quint64 time = MG::TIME::getGroundTimeNow();
                //emit positionSetPointsChanged(uasId, out.x/127.0f, out.y/127.0f, out.z/127.0f, out.yaw, time);
                emit valueChanged(uasId, "pos control x", out.x, time);
                emit valueChanged(uasId, "pos control y", out.y, time);
                emit valueChanged(uasId, "pos control z", out.z, time);
            }
            break;
        case MAVLINK_MSG_ID_WAYPOINT_COUNT:
            {
                mavlink_waypoint_count_t wpc;
                mavlink_msg_waypoint_count_decode(&message, &wpc);
                if (wpc.target_system == mavlink->getSystemId() && wpc.target_component == mavlink->getComponentId())
                {
                    waypointManager.handleWaypointCount(message.sysid, message.compid, wpc.count);
                }
            }
            break;

        case MAVLINK_MSG_ID_WAYPOINT:
            {
                mavlink_waypoint_t wp;
                mavlink_msg_waypoint_decode(&message, &wp);
                //qDebug() << "got waypoint (" << wp.seq << ") from ID " << message.sysid << " x=" << wp.x << " y=" << wp.y << " z=" << wp.z;
                if(wp.target_system == mavlink->getSystemId() && wp.target_component == mavlink->getComponentId())
                {
                    waypointManager.handleWaypoint(message.sysid, message.compid, &wp);
                }
            }
            break;

        case MAVLINK_MSG_ID_WAYPOINT_REQUEST:
            {
                mavlink_waypoint_request_t wpr;
                mavlink_msg_waypoint_request_decode(&message, &wpr);
                if(wpr.target_system == mavlink->getSystemId() && wpr.target_component == mavlink->getComponentId())
                {
                    waypointManager.handleWaypointRequest(message.sysid, message.compid, &wpr);
                }
            }
            break;

        case MAVLINK_MSG_ID_WAYPOINT_REACHED:
            {
                mavlink_waypoint_reached_t wpr;
                mavlink_msg_waypoint_reached_decode(&message, &wpr);
                waypointManager.handleWaypointReached(message.sysid, message.compid, &wpr);
            }
            break;

        case MAVLINK_MSG_ID_WAYPOINT_SET_CURRENT:
            {
                mavlink_waypoint_set_current_t wpsc;
                mavlink_msg_waypoint_set_current_decode(&message, &wpsc);
                waypointManager.handleWaypointSetCurrent(message.sysid, message.compid, &wpsc);
            }
            break;

        case MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT:
            {
                mavlink_local_position_setpoint_t p;
                mavlink_msg_local_position_setpoint_decode(&message, &p);
                emit positionSetPointsChanged(uasId, p.x, p.y, p.z, p.yaw, QGC::groundTimeUsecs());
            }
            break;

        case MAVLINK_MSG_ID_STATUSTEXT:
            {
                QByteArray b;
                b.resize(256);
                mavlink_msg_statustext_get_text(&message, (int8_t*)b.data());
                //b.append('\0');
                QString text = QString(b);
                int severity = mavlink_msg_statustext_get_severity(&message);
                //qDebug() << "RECEIVED STATUS:" << text;false
                //emit statusTextReceived(severity, text);
                emit textMessageReceived(uasId, severity, text);
            }
            break;
        default:
            {
                if (!unknownPackets.contains(message.msgid))
                {
                    unknownPackets.append(message.msgid);
                    //GAudioOutput::instance()->say("UNABLE TO DECODE MESSAGE WITH ID " + QString::number(message.msgid) + " FROM SYSTEM " + QString::number(message.sysid));
                    std::cout << "Unable to decode message from system " << std::dec << static_cast<int>(message.sysid) << " with message id:" << static_cast<int>(message.msgid) << std::endl;
                    //qDebug() << std::cerr << "Unable to decode message from system " << std::dec << static_cast<int>(message.acid) << " with message id:" << static_cast<int>(message.msgid) << std::endl;
                }
            }
            break;
        }
    }
}

void UAS::setLocalPositionSetpoint(float x, float y, float z, float yaw)
{
  #ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
    mavlink_message_t msg;
    mavlink_msg_position_control_setpoint_set_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, 0, x, y, z, yaw);
    sendMessage(msg);
  #endif
}

quint64 UAS::getUnixTime(quint64 time)
{
    if (time == 0)
    {
        return MG::TIME::getGroundTimeNow();
    }
    // Check if time is smaller than 40 years,
    // assuming no system without Unix timestamp
    // runs longer than 40 years continuously without
    // reboot. In worst case this will add/subtract the
    // communication delay between GCS and MAV,
    // it will never alter the timestamp in a safety
    // critical way.
    //
    // Calculation:
    // 40 years
    // 365 days
    // 24 hours
    // 60 minutes
    // 60 seconds
    // 1000 milliseconds
    // 1000 microseconds
    else if (time < 1261440000000000LLU)
    {
        if (onboardTimeOffset == 0)
        {
            onboardTimeOffset = MG::TIME::getGroundTimeNow() - time/1000;
        }
        return time/1000 + onboardTimeOffset;
    }
    else
    {
        // Time is not zero and larger than 40 years -> has to be
        // a Unix epoch timestamp. Do nothing.
        return time/1000;
    }
}

void UAS::setMode(int mode)
{
    if ((uint8_t)mode >= MAV_MODE_LOCKED && (uint8_t)mode <= MAV_MODE_TEST3)
    {
        mavlink_message_t msg;
        mavlink_msg_set_mode_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, (uint8_t)uasId, (uint8_t)mode);
        sendMessage(msg);
        qDebug() << "SENDING REQUEST TO SET MODE TO SYSTEM" << uasId << ", REQUEST TO SET MODE " << (uint8_t)mode;
    }
}

void UAS::sendMessage(mavlink_message_t message)
{
    // Emit message on all links that are currently connected
    QList<LinkInterface*>::iterator i;
    for (i = links->begin(); i != links->end(); ++i)
    {
        sendMessage(*i, message);
    }
}

void UAS::sendMessage(LinkInterface* link, mavlink_message_t message)
{
    // Create buffer
    uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
    // Write message into buffer, prepending start sign
    int len = mavlink_msg_to_send_buffer(buffer, &message);
    // If link is connected
    if (link->isConnected())
    {
        // Send the portion of the buffer now occupied by the message
        link->writeBytes((const char*)buffer, len);
    }
}

/**
 * @param value battery voltage
 */
float UAS::filterVoltage(float value) const
{
    return lpVoltage * 0.7f + value * 0.3f;
}

void UAS::getStatusForCode(int statusCode, QString& uasState, QString& stateDescription)
{
    switch (statusCode)
    {
    case MAV_STATE_UNINIT:
        uasState = tr("UNINIT");
        stateDescription = tr("Not initialized");
        break;
    case MAV_STATE_BOOT:
        uasState = tr("BOOT");
        stateDescription = tr("Booting system, please wait..");
        break;
    case MAV_STATE_CALIBRATING:
        uasState = tr("CALIBRATING");
        stateDescription = tr("Calibrating sensors..");
        break;
    case MAV_STATE_ACTIVE:
        uasState = tr("ACTIVE");
        stateDescription = tr("Normal operation mode");
        break;
    case MAV_STATE_STANDBY:
        uasState = tr("STANDBY");
        stateDescription = tr("Standby, operational");
        break;
    case MAV_STATE_CRITICAL:
        uasState = tr("CRITICAL");
        stateDescription = tr("Failure occured!");
        break;
    case MAV_STATE_EMERGENCY:
        uasState = tr("EMERGENCY");
        stateDescription = tr("EMERGENCY: Please land");
        break;
    case MAV_STATE_POWEROFF:
        uasState = tr("SHUTDOWN");
        stateDescription = tr("Powering off system");
        break;
    default:
        uasState = tr("UNKNOWN");
        stateDescription = tr("FAILURE: Unknown system state");
        break;
    }
}



/* MANAGEMENT */

/*
 *
 * @return The uptime in milliseconds
 *
 **/
quint64 UAS::getUptime() const
{
    if(startTime == 0) {
        return 0;
    } else {
        return MG::TIME::getGroundTimeNow() - startTime;
    }
}

int UAS::getCommunicationStatus() const
{
    return commStatus;
}

void UAS::requestParameters()
{
    mavlink_message_t msg;
    mavlink_msg_param_request_list_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), 25);
    // Send message twice to increase chance of reception
    sendMessage(msg);
}

void UAS::writeParametersToStorage()
{
    mavlink_message_t msg;
    // TODO Replace MG System ID with static function call and allow to change ID in GUI
    mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(),MAV_COMP_ID_IMU, (uint8_t)MAV_ACTION_STORAGE_WRITE);
    //mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(),(uint8_t)MAV_ACTION_STORAGE_WRITE);
    sendMessage(msg);
}

void UAS::readParametersFromStorage()
{
    mavlink_message_t msg;
    // TODO Replace MG System ID with static function call and allow to change ID in GUI
    mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU,(uint8_t)MAV_ACTION_STORAGE_READ);
    sendMessage(msg);
}

void UAS::enableAllDataTransmission(bool enabled)
{
#ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
    // Buffers to write data to
    mavlink_message_t msg;
    mavlink_request_data_stream_t stream;
    // Select the message to request from now on
    // 0 is a magic ID and will enable/disable the standard message set except for heartbeat
    stream.req_stream_id = 0;
    // Select the update rate in Hz the message should be send
    // All messages will be send with their default rate
    stream.req_message_rate = 0;
    // Start / stop the message
    stream.start_stop = (enabled) ? 1 : 0;
    // The system which should take this command
    stream.target_system = uasId;
    // The component / subsystem which should take this command
    stream.target_component = 0;
    // Encode and send the message
    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
#endif
}

void UAS::enableRawSensorDataTransmission(bool enabled)
{
#ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
    // Buffers to write data to
    mavlink_message_t msg;
    mavlink_request_data_stream_t stream;
    // Select the message to request from now on
    stream.req_stream_id = 1;
    // Select the update rate in Hz the message should be send
    stream.req_message_rate = 200;
    // Start / stop the message
    stream.start_stop = (enabled) ? 1 : 0;
    // The system which should take this command
    stream.target_system = uasId;
    // The component / subsystem which should take this command
    stream.target_component = 0;
    // Encode and send the message
    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
#endif
}

void UAS::enableExtendedSystemStatusTransmission(bool enabled)
{
#ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
    // Buffers to write data to
    mavlink_message_t msg;
    mavlink_request_data_stream_t stream;
    // Select the message to request from now on
    stream.req_stream_id = 2;
    // Select the update rate in Hz the message should be send
    stream.req_message_rate = 10;
    // Start / stop the message
    stream.start_stop = (enabled) ? 1 : 0;
    // The system which should take this command
    stream.target_system = uasId;
    // The component / subsystem which should take this command
    stream.target_component = 0;
    // Encode and send the message
    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
#endif
}

void UAS::enableRCChannelDataTransmission(bool enabled)
{
#ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
    // Buffers to write data to
    mavlink_message_t msg;
    mavlink_request_data_stream_t stream;
    // Select the message to request from now on
    stream.req_stream_id = 3;
    // Select the update rate in Hz the message should be send
    stream.req_message_rate = 200;
    // Start / stop the message
    stream.start_stop = (enabled) ? 1 : 0;
    // The system which should take this command
    stream.target_system = uasId;
    // The component / subsystem which should take this command
    stream.target_component = 0;
    // Encode and send the message
    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
#endif
}

void UAS::enableRawControllerDataTransmission(bool enabled)
{
#ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
    // Buffers to write data to
    mavlink_message_t msg;
    mavlink_request_data_stream_t stream;
    // Select the message to request from now on
    stream.req_stream_id = 4;
    // Select the update rate in Hz the message should be send
    stream.req_message_rate = 200;
    // Start / stop the message
    stream.start_stop = (enabled) ? 1 : 0;
    // The system which should take this command
    stream.target_system = uasId;
    // The component / subsystem which should take this command
    stream.target_component = 0;
    // Encode and send the message
    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
#endif
}

void UAS::enableRawSensorFusionTransmission(bool enabled)
{
#ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
    // Buffers to write data to
    mavlink_message_t msg;
    mavlink_request_data_stream_t stream;
    // Select the message to request from now on
    stream.req_stream_id = 5;
    // Select the update rate in Hz the message should be send
    stream.req_message_rate = 200;
    // Start / stop the message
    stream.start_stop = (enabled) ? 1 : 0;
    // The system which should take this command
    stream.target_system = uasId;
    // The component / subsystem which should take this command
    stream.target_component = 0;
    // Encode and send the message
    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
#endif
}

void UAS::enablePositionTransmission(bool enabled)
{
#ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
    // Buffers to write data to
    mavlink_message_t msg;
    mavlink_request_data_stream_t stream;
    // Select the message to request from now on
    stream.req_stream_id = 6;
    // Select the update rate in Hz the message should be send
    stream.req_message_rate = 200;
    // Start / stop the message
    stream.start_stop = (enabled) ? 1 : 0;
    // The system which should take this command
    stream.target_system = uasId;
    // The component / subsystem which should take this command
    stream.target_component = 0;
    // Encode and send the message
    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
#endif
}

void UAS::enableExtra1Transmission(bool enabled)
{
  #ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
    // Buffers to write data to
    mavlink_message_t msg;
    mavlink_request_data_stream_t stream;
    // Select the message to request from now on
    stream.req_stream_id = 7;
    // Select the update rate in Hz the message should be send
    stream.req_message_rate = 200;
    // Start / stop the message
    stream.start_stop = (enabled) ? 1 : 0;
    // The system which should take this command
    stream.target_system = uasId;
    // The component / subsystem which should take this command
    stream.target_component = 0;
    // Encode and send the message
    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
#endif
}

void UAS::enableExtra2Transmission(bool enabled)
{
  #ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
    // Buffers to write data to
    mavlink_message_t msg;
    mavlink_request_data_stream_t stream;
    // Select the message to request from now on
    stream.req_stream_id = 8;
    // Select the update rate in Hz the message should be send
    stream.req_message_rate = 200;
    // Start / stop the message
    stream.start_stop = (enabled) ? 1 : 0;
    // The system which should take this command
    stream.target_system = uasId;
    // The component / subsystem which should take this command
    stream.target_component = 0;
    // Encode and send the message
    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
#endif
}

void UAS::enableExtra3Transmission(bool enabled)
{
  #ifdef MAVLINK_ENABLED_PIXHAWK_MESSAGES
    // Buffers to write data to
    mavlink_message_t msg;
    mavlink_request_data_stream_t stream;
    // Select the message to request from now on
    stream.req_stream_id = 9;
    // Select the update rate in Hz the message should be send
    stream.req_message_rate = 200;
    // Start / stop the message
    stream.start_stop = (enabled) ? 1 : 0;
    // The system which should take this command
    stream.target_system = uasId;
    // The component / subsystem which should take this command
    stream.target_component = 0;
    // Encode and send the message
    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
#endif
}

void UAS::setParameter(int component, QString id, float value)
{
    mavlink_message_t msg;
    mavlink_param_set_t p;
    p.param_value = value;
    p.target_system = (uint8_t)uasId;
    p.target_component = (uint8_t)component;

    // Copy string into buffer, ensuring not to exceed the buffer size
    char* s = (char*)id.toStdString().c_str();
    for (unsigned int i = 0; i < sizeof(p.param_id); i++)
    {
        // String characters
        if ((int)i < id.length() && i < (sizeof(p.param_id) - 1))
        {
            p.param_id[i] = s[i];
        }
        // Null termination at end of string or end of buffer
        else if ((int)i == id.length() || i == (sizeof(p.param_id) - 1))
        {
            p.param_id[i] = '\0';
        }
        // Zero fill
        else
        {
            p.param_id[i] = 0;
        }
    }
    mavlink_msg_param_set_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &p);
    sendMessage(msg);
}

/**
 * @brief Launches the system
 *
 **/
void UAS::launch()
{
    mavlink_message_t msg;
    // TODO Replace MG System ID with static function call and allow to change ID in GUI
    mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU, (uint8_t)MAV_ACTION_LAUNCH);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
}

/**
 * Depending on the UAS, this might make the rotors of a helicopter spinning
 *
 **/
void UAS::enable_motors()
{
    mavlink_message_t msg;
    // TODO Replace MG System ID with static function call and allow to change ID in GUI
    mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU, (uint8_t)MAV_ACTION_MOTORS_START);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
}

/**
 * @warning Depending on the UAS, this might completely stop all motors.
 *
 **/
void UAS::disable_motors()
{
    mavlink_message_t msg;
    // TODO Replace MG System ID with static function call and allow to change ID in GUI
    mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU, (uint8_t)MAV_ACTION_MOTORS_STOP);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
}

void UAS::setManualControlCommands(double roll, double pitch, double yaw, double thrust)