Vehicle.cc

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

 QGroundControl Open Source Ground Control Station

 (c) 2009 - 2014 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>

 This file is part of the QGROUNDCONTROL project

 QGROUNDCONTROL 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.

 QGROUNDCONTROL 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 QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.

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

#include "Vehicle.h"
#include "MAVLinkProtocol.h"
#include "FirmwarePluginManager.h"
#include "LinkManager.h"
#include "FirmwarePlugin.h"
#include "AutoPilotPluginManager.h"
#include "UAS.h"
#include "JoystickManager.h"
#include "MissionManager.h"
#include "CoordinateVector.h"
#include "ParameterLoader.h"
#include "QGCApplication.h"
#include "QGCImageProvider.h"
#include "GAudioOutput.h"

QGC_LOGGING_CATEGORY(VehicleLog, "VehicleLog")

#define UPDATE_TIMER 50
#define DEFAULT_LAT  38.965767f
#define DEFAULT_LON -120.083923f

const char* Vehicle::_settingsGroup =               "Vehicle%1";        // %1 replaced with mavlink system id
const char* Vehicle::_joystickModeSettingsKey =     "JoystickMode";
const char* Vehicle::_joystickEnabledSettingsKey =  "JoystickEnabled";

const char* Vehicle::_rollFactName =                "roll";
const char* Vehicle::_pitchFactName =               "pitch";
const char* Vehicle::_headingFactName =             "heading";
const char* Vehicle::_airSpeedFactName =            "airSpeed";
const char* Vehicle::_groundSpeedFactName =         "groundSpeed";
const char* Vehicle::_climbRateFactName =           "climbRate";
const char* Vehicle::_altitudeRelativeFactName =    "altitudeRelative";
const char* Vehicle::_altitudeAMSLFactName =        "altitudeAMSL";

const char* Vehicle::_gpsFactGroupName =        "gps";
const char* Vehicle::_batteryFactGroupName =    "battery";
const char* Vehicle::_windFactGroupName =       "wind";
const char* Vehicle::_vibrationFactGroupName =  "vibration";

const int Vehicle::_lowBatteryAnnounceRepeatMSecs = 30 * 1000;

Vehicle::Vehicle(LinkInterface*             link,
                 int                        vehicleId,
                 MAV_AUTOPILOT              firmwareType,
                 MAV_TYPE                   vehicleType,
                 FirmwarePluginManager*     firmwarePluginManager,
                 AutoPilotPluginManager*    autopilotPluginManager,
                 JoystickManager*           joystickManager)
    : FactGroup(_vehicleUIUpdateRateMSecs, ":/json/Vehicle/VehicleFact.json")
    , _id(vehicleId)
    , _active(false)
    , _disconnectedVehicle(false)
    , _firmwareType(firmwareType)
    , _vehicleType(vehicleType)
    , _firmwarePlugin(NULL)
    , _autopilotPlugin(NULL)
    , _joystickMode(JoystickModeRC)
    , _joystickEnabled(false)
    , _uas(NULL)
    , _coordinate(37.803784, -122.462276)
    , _coordinateValid(false)
    , _homePositionAvailable(false)
    , _mav(NULL)
    , _currentMessageCount(0)
    , _messageCount(0)
    , _currentErrorCount(0)
    , _currentWarningCount(0)
    , _currentNormalCount(0)
    , _currentMessageType(MessageNone)
    , _navigationAltitudeError(0.0f)
    , _navigationSpeedError(0.0f)
    , _navigationCrosstrackError(0.0f)
    , _navigationTargetBearing(0.0f)
    , _refreshTimer(new QTimer(this))
    , _updateCount(0)
    , _rcRSSI(0)
    , _rcRSSIstore(100.0)
    , _autoDisconnect(false)
    , _flying(false)
    , _connectionLost(false)
    , _connectionLostEnabled(true)
    , _missionManager(NULL)
    , _missionManagerInitialRequestComplete(false)
    , _parameterLoader(NULL)
    , _armed(false)
    , _base_mode(0)
    , _custom_mode(0)
    , _nextSendMessageMultipleIndex(0)
    , _firmwarePluginManager(firmwarePluginManager)
    , _autopilotPluginManager(autopilotPluginManager)
    , _joystickManager(joystickManager)
    , _flowImageIndex(0)
    , _allLinksInactiveSent(false)
    , _messagesReceived(0)
    , _messagesSent(0)
    , _messagesLost(0)
    , _messageSeq(0)
    , _compID(0)
    , _heardFrom(false)
    , _rollFact             (0, _rollFactName,              FactMetaData::valueTypeDouble)
    , _pitchFact            (0, _pitchFactName,             FactMetaData::valueTypeDouble)
    , _headingFact          (0, _headingFactName,           FactMetaData::valueTypeDouble)
    , _groundSpeedFact      (0, _groundSpeedFactName,       FactMetaData::valueTypeDouble)
    , _airSpeedFact         (0, _airSpeedFactName,          FactMetaData::valueTypeDouble)
    , _climbRateFact        (0, _climbRateFactName,         FactMetaData::valueTypeDouble)
    , _altitudeRelativeFact (0, _altitudeRelativeFactName,  FactMetaData::valueTypeDouble)
    , _altitudeAMSLFact     (0, _altitudeAMSLFactName,      FactMetaData::valueTypeDouble)
    , _gpsFactGroup(this)
    , _batteryFactGroup(this)
    , _windFactGroup(this)
    , _vibrationFactGroup(this)
{
    _addLink(link);

    _mavlink = qgcApp()->toolbox()->mavlinkProtocol();

    connect(_mavlink, &MAVLinkProtocol::messageReceived,     this, &Vehicle::_mavlinkMessageReceived);

    connect(this, &Vehicle::_sendMessageOnThread,       this, &Vehicle::_sendMessage, Qt::QueuedConnection);
    connect(this, &Vehicle::_sendMessageOnLinkOnThread, this, &Vehicle::_sendMessageOnLink, Qt::QueuedConnection);
    connect(this, &Vehicle::flightModeChanged,          this, &Vehicle::_handleFlightModeChanged);
    connect(this, &Vehicle::armedChanged,               this, &Vehicle::_announceArmedChanged);

    _uas = new UAS(_mavlink, this, _firmwarePluginManager);

    setLatitude(_uas->getLatitude());
    setLongitude(_uas->getLongitude());

    connect(_uas, &UAS::latitudeChanged,                this, &Vehicle::setLatitude);
    connect(_uas, &UAS::longitudeChanged,               this, &Vehicle::setLongitude);
    connect(_uas, &UAS::imageReady,                     this, &Vehicle::_imageReady);
    connect(this, &Vehicle::remoteControlRSSIChanged,   this, &Vehicle::_remoteControlRSSIChanged);

    _firmwarePlugin     = _firmwarePluginManager->firmwarePluginForAutopilot(_firmwareType, _vehicleType);
    _autopilotPlugin    = _autopilotPluginManager->newAutopilotPluginForVehicle(this);

    connect(_autopilotPlugin, &AutoPilotPlugin::parametersReadyChanged,     this, &Vehicle::_parametersReady);
    connect(_autopilotPlugin, &AutoPilotPlugin::missingParametersChanged,   this, &Vehicle::missingParametersChanged);

    // Refresh timer
    connect(_refreshTimer, &QTimer::timeout, this, &Vehicle::_checkUpdate);
    _refreshTimer->setInterval(UPDATE_TIMER);
    _refreshTimer->start(UPDATE_TIMER);

    // Connection Lost time
    _connectionLostTimer.setInterval(Vehicle::_connectionLostTimeoutMSecs);
    _connectionLostTimer.setSingleShot(false);
    _connectionLostTimer.start();
    connect(&_connectionLostTimer, &QTimer::timeout, this, &Vehicle::_connectionLostTimeout);

    _mav = uas();

    // Listen for system messages
    connect(qgcApp()->toolbox()->uasMessageHandler(), &UASMessageHandler::textMessageCountChanged,  this, &Vehicle::_handleTextMessage);
    connect(qgcApp()->toolbox()->uasMessageHandler(), &UASMessageHandler::textMessageReceived,      this, &Vehicle::_handletextMessageReceived);
    // Now connect the new UAS
    connect(_mav, SIGNAL(attitudeChanged                    (UASInterface*,double,double,double,quint64)),              this, SLOT(_updateAttitude(UASInterface*, double, double, double, quint64)));
    connect(_mav, SIGNAL(attitudeChanged                    (UASInterface*,int,double,double,double,quint64)),          this, SLOT(_updateAttitude(UASInterface*,int,double, double, double, quint64)));
    connect(_mav, SIGNAL(statusChanged                      (UASInterface*,QString,QString)),                           this, SLOT(_updateState(UASInterface*, QString,QString)));

    connect(_mav, &UASInterface::speedChanged, this, &Vehicle::_updateSpeed);
    connect(_mav, &UASInterface::altitudeChanged, this, &Vehicle::_updateAltitude);
    connect(_mav, &UASInterface::navigationControllerErrorsChanged,this, &Vehicle::_updateNavigationControllerErrors);
    connect(_mav, &UASInterface::NavigationControllerDataChanged,   this, &Vehicle::_updateNavigationControllerData);

    _loadSettings();

    _missionManager = new MissionManager(this);
    connect(_missionManager, &MissionManager::error, this, &Vehicle::_missionManagerError);

    _parameterLoader = new ParameterLoader(this);
    connect(_parameterLoader, &ParameterLoader::parametersReady, _autopilotPlugin, &AutoPilotPlugin::_parametersReadyPreChecks);
    connect(_parameterLoader, &ParameterLoader::parameterListProgress, _autopilotPlugin, &AutoPilotPlugin::parameterListProgress);

    _firmwarePlugin->initializeVehicle(this);

    _sendMultipleTimer.start(_sendMessageMultipleIntraMessageDelay);
    connect(&_sendMultipleTimer, &QTimer::timeout, this, &Vehicle::_sendMessageMultipleNext);

    _mapTrajectoryTimer.setInterval(_mapTrajectoryMsecsBetweenPoints);
    connect(&_mapTrajectoryTimer, &QTimer::timeout, this, &Vehicle::_addNewMapTrajectoryPoint);

    // Invalidate the timer to signal first announce
    _lowBatteryAnnounceTimer.invalidate();

    // Build FactGroup object model

    _addFact(&_rollFact,                _rollFactName);
    _addFact(&_pitchFact,               _pitchFactName);
    _addFact(&_headingFact,             _headingFactName);
    _addFact(&_groundSpeedFact,         _groundSpeedFactName);
    _addFact(&_airSpeedFact,            _airSpeedFactName);
    _addFact(&_climbRateFact,           _climbRateFactName);
    _addFact(&_altitudeRelativeFact,    _altitudeRelativeFactName);
    _addFact(&_altitudeAMSLFact,        _altitudeAMSLFactName);

    _addFactGroup(&_gpsFactGroup,       _gpsFactGroupName);
    _addFactGroup(&_batteryFactGroup,   _batteryFactGroupName);
    _addFactGroup(&_windFactGroup,      _windFactGroupName);
    _addFactGroup(&_vibrationFactGroup, _vibrationFactGroupName);

    _gpsFactGroup.setVehicle(this);
    _batteryFactGroup.setVehicle(this);
    _windFactGroup.setVehicle(this);
    _vibrationFactGroup.setVehicle(this);
}

// Disconnected Vehicle
Vehicle::Vehicle(QObject* parent)
    : FactGroup(_vehicleUIUpdateRateMSecs, ":/json/Vehicle/VehicleFact.json", parent)
    , _id(0)
    , _active(false)
    , _disconnectedVehicle(false)
    , _firmwareType(MAV_AUTOPILOT_PX4)
    , _vehicleType(MAV_TYPE_QUADROTOR)
    , _firmwarePlugin(NULL)
    , _autopilotPlugin(NULL)
    , _joystickMode(JoystickModeRC)
    , _joystickEnabled(false)
    , _uas(NULL)
    , _coordinate(37.803784, -122.462276)
    , _coordinateValid(false)
    , _homePositionAvailable(false)
    , _mav(NULL)
    , _currentMessageCount(0)
    , _messageCount(0)
    , _currentErrorCount(0)
    , _currentWarningCount(0)
    , _currentNormalCount(0)
    , _currentMessageType(MessageNone)
    , _navigationAltitudeError(0.0f)
    , _navigationSpeedError(0.0f)
    , _navigationCrosstrackError(0.0f)
    , _navigationTargetBearing(0.0f)
    , _refreshTimer(new QTimer(this))
    , _updateCount(0)
    , _rcRSSI(0)
    , _rcRSSIstore(100.0)
    , _autoDisconnect(false)
    , _connectionLost(false)
    , _connectionLostEnabled(true)
    , _missionManager(NULL)
    , _missionManagerInitialRequestComplete(false)
    , _parameterLoader(NULL)
    , _armed(false)
    , _base_mode(0)
    , _custom_mode(0)
    , _nextSendMessageMultipleIndex(0)
    , _firmwarePluginManager(NULL)
    , _autopilotPluginManager(NULL)
    , _joystickManager(NULL)
    , _flowImageIndex(0)
    , _allLinksInactiveSent(false)
    , _messagesReceived(0)
    , _messagesSent(0)
    , _messagesLost(0)
    , _messageSeq(0)
    , _compID(0)
    , _heardFrom(false)
    , _rollFact             (0, _rollFactName,              FactMetaData::valueTypeDouble)
    , _pitchFact            (0, _pitchFactName,             FactMetaData::valueTypeDouble)
    , _headingFact          (0, _headingFactName,           FactMetaData::valueTypeDouble)
    , _groundSpeedFact      (0, _groundSpeedFactName,       FactMetaData::valueTypeDouble)
    , _airSpeedFact         (0, _airSpeedFactName,          FactMetaData::valueTypeDouble)
    , _climbRateFact        (0, _climbRateFactName,         FactMetaData::valueTypeDouble)
    , _altitudeRelativeFact (0, _altitudeRelativeFactName,  FactMetaData::valueTypeDouble)
    , _altitudeAMSLFact     (0, _altitudeAMSLFactName,      FactMetaData::valueTypeDouble)
    , _gpsFactGroup(this)
    , _batteryFactGroup(this)
    , _windFactGroup(this)
    , _vibrationFactGroup(this)
{
    // Build FactGroup object model

    _addFact(&_rollFact,                _rollFactName);
    _addFact(&_pitchFact,               _pitchFactName);
    _addFact(&_headingFact,             _headingFactName);
    _addFact(&_groundSpeedFact,         _groundSpeedFactName);
    _addFact(&_airSpeedFact,            _airSpeedFactName);
    _addFact(&_climbRateFact,           _climbRateFactName);
    _addFact(&_altitudeRelativeFact,    _altitudeRelativeFactName);
    _addFact(&_altitudeAMSLFact,        _altitudeAMSLFactName);

    _addFactGroup(&_gpsFactGroup,       _gpsFactGroupName);
    _addFactGroup(&_batteryFactGroup,   _batteryFactGroupName);
    _addFactGroup(&_windFactGroup,      _windFactGroupName);
    _addFactGroup(&_vibrationFactGroup, _vibrationFactGroupName);

    _gpsFactGroup.setVehicle(NULL);
    _batteryFactGroup.setVehicle(NULL);
    _windFactGroup.setVehicle(NULL);
    _vibrationFactGroup.setVehicle(NULL);
}

Vehicle::~Vehicle()
{
    qCDebug(VehicleLog) << "~Vehicle" << this;

    delete _missionManager;
    _missionManager = NULL;

    delete _autopilotPlugin;
    _autopilotPlugin = NULL;

    delete _mav;
    _mav = NULL;

}

void
Vehicle::resetCounters()
{
    _messagesReceived   = 0;
    _messagesSent       = 0;
    _messagesLost       = 0;
    _messageSeq         = 0;
    _heardFrom          = false;
}

void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message)
{
    if (message.sysid != _id && message.sysid != 0) {
        return;
    }

    if (!_containsLink(link)) {
        _addLink(link);
    }

    //-- Check link status
    _messagesReceived++;
    emit messagesReceivedChanged();
    if(!_heardFrom) {
        if(message.msgid == MAVLINK_MSG_ID_HEARTBEAT) {
            _heardFrom = true;
            _compID = message.compid;
            _messageSeq = message.seq + 1;
        }
    } else {
        if(_compID == message.compid) {
            uint16_t seq_received = (uint16_t)message.seq;
            uint16_t packet_lost_count = 0;
            //-- Account for overflow during packet loss
            if(seq_received < _messageSeq) {
                packet_lost_count = (seq_received + 255) - _messageSeq;
            } else {
                packet_lost_count = seq_received - _messageSeq;
            }
            _messageSeq = message.seq + 1;
            _messagesLost += packet_lost_count;
            if(packet_lost_count)
                emit messagesLostChanged();
        }
    }

    // Give the plugin a change to adjust the message contents
    _firmwarePlugin->adjustIncomingMavlinkMessage(this, &message);

    switch (message.msgid) {
    case MAVLINK_MSG_ID_HOME_POSITION:
        _handleHomePosition(message);
        break;
    case MAVLINK_MSG_ID_HEARTBEAT:
        _handleHeartbeat(message);
        break;
    case MAVLINK_MSG_ID_RC_CHANNELS:
        _handleRCChannels(message);
        break;
    case MAVLINK_MSG_ID_RC_CHANNELS_RAW:
        _handleRCChannelsRaw(message);
        break;
    case MAVLINK_MSG_ID_BATTERY_STATUS:
        _handleBatteryStatus(message);
        break;
    case MAVLINK_MSG_ID_SYS_STATUS:
        _handleSysStatus(message);
        break;
    case MAVLINK_MSG_ID_RAW_IMU:
        emit mavlinkRawImu(message);
        break;
    case MAVLINK_MSG_ID_SCALED_IMU:
        emit mavlinkScaledImu1(message);
        break;
    case MAVLINK_MSG_ID_SCALED_IMU2:
        emit mavlinkScaledImu2(message);
        break;
    case MAVLINK_MSG_ID_SCALED_IMU3:
        emit mavlinkScaledImu3(message);
        break;
    case MAVLINK_MSG_ID_VIBRATION:
        _handleVibration(message);
        break;
    case MAVLINK_MSG_ID_EXTENDED_SYS_STATE:
        _handleExtendedSysState(message);
        break;

    // Following are ArduPilot dialect messages

    case MAVLINK_MSG_ID_WIND:
        _handleWind(message);
        break;
    }

    emit mavlinkMessageReceived(message);

    _uas->receiveMessage(message);
}

void Vehicle::_handleExtendedSysState(mavlink_message_t& message)
{
    mavlink_extended_sys_state_t extendedState;
    mavlink_msg_extended_sys_state_decode(&message, &extendedState);

    switch (extendedState.landed_state) {
        case MAV_LANDED_STATE_UNDEFINED:
        break;
    case MAV_LANDED_STATE_ON_GROUND:
        setFlying(false);
        break;
    case MAV_LANDED_STATE_IN_AIR:
        setFlying(true);
        return;
    }
}

void Vehicle::_handleVibration(mavlink_message_t& message)
{
    mavlink_vibration_t vibration;
    mavlink_msg_vibration_decode(&message, &vibration);

    _vibrationFactGroup.xAxis()->setRawValue(vibration.vibration_x);
    _vibrationFactGroup.yAxis()->setRawValue(vibration.vibration_y);
    _vibrationFactGroup.zAxis()->setRawValue(vibration.vibration_z);
    _vibrationFactGroup.clipCount1()->setRawValue(vibration.clipping_0);
    _vibrationFactGroup.clipCount2()->setRawValue(vibration.clipping_1);
    _vibrationFactGroup.clipCount3()->setRawValue(vibration.clipping_2);
}

void Vehicle::_handleWind(mavlink_message_t& message)
{
    mavlink_wind_t wind;
    mavlink_msg_wind_decode(&message, &wind);

    _windFactGroup.direction()->setRawValue(wind.direction);
    _windFactGroup.speed()->setRawValue(wind.speed);
    _windFactGroup.verticalSpeed()->setRawValue(wind.speed_z);
}

void Vehicle::_handleSysStatus(mavlink_message_t& message)
{
    mavlink_sys_status_t sysStatus;
    mavlink_msg_sys_status_decode(&message, &sysStatus);

    if (sysStatus.current_battery == -1) {
        _batteryFactGroup.current()->setRawValue(VehicleBatteryFactGroup::_currentUnavailable);
    } else {
        _batteryFactGroup.current()->setRawValue((double)sysStatus.current_battery * 10);
    }
    if (sysStatus.voltage_battery == UINT16_MAX) {
        _batteryFactGroup.voltage()->setRawValue(VehicleBatteryFactGroup::_voltageUnavailable);
    } else {
        _batteryFactGroup.voltage()->setRawValue((double)sysStatus.voltage_battery / 1000.0);
    }
    _batteryFactGroup.percentRemaining()->setRawValue(sysStatus.battery_remaining);

    if (sysStatus.battery_remaining > 0 && sysStatus.battery_remaining < _batteryFactGroup.percentRemainingAnnounce()->rawValue().toInt()) {
        if (!_lowBatteryAnnounceTimer.isValid() || _lowBatteryAnnounceTimer.elapsed() > _lowBatteryAnnounceRepeatMSecs) {
            _lowBatteryAnnounceTimer.restart();
            _say(QString("%1 low battery: %2 percent remaining").arg(_vehicleIdSpeech()).arg(sysStatus.battery_remaining));
        }
    }
}

void Vehicle::_handleBatteryStatus(mavlink_message_t& message)
{
    mavlink_battery_status_t bat_status;
    mavlink_msg_battery_status_decode(&message, &bat_status);

    if (bat_status.temperature == INT16_MAX) {
        _batteryFactGroup.temperature()->setRawValue(VehicleBatteryFactGroup::_temperatureUnavailable);
    } else {
        _batteryFactGroup.temperature()->setRawValue((double)bat_status.temperature / 100.0);
    }
    if (bat_status.current_consumed == -1) {
        _batteryFactGroup.mahConsumed()->setRawValue(VehicleBatteryFactGroup::_mahConsumedUnavailable);
    } else {
        _batteryFactGroup.mahConsumed()->setRawValue(bat_status.current_consumed);
    }

    int cellCount = 0;
    for (int i=0; i<10; i++) {
        if (bat_status.voltages[i] != UINT16_MAX) {
            cellCount++;
        }
    }
    if (cellCount == 0) {
        cellCount = -1;
    }

    _batteryFactGroup.cellCount()->setRawValue(cellCount);
}

void Vehicle::_handleHomePosition(mavlink_message_t& message)
{
    bool emitHomePositionChanged =          false;
    bool emitHomePositionAvailableChanged = false;

    mavlink_home_position_t homePos;

    mavlink_msg_home_position_decode(&message, &homePos);

    QGeoCoordinate newHomePosition (homePos.latitude / 10000000.0,
                                    homePos.longitude / 10000000.0,
                                    homePos.altitude / 1000.0);
    if (!_homePositionAvailable || newHomePosition != _homePosition) {
        emitHomePositionChanged = true;
        _homePosition = newHomePosition;
    }

    if (!_homePositionAvailable) {
        emitHomePositionAvailableChanged = true;
        _homePositionAvailable = true;
    }

    if (emitHomePositionChanged) {
        qCDebug(VehicleLog) << "New home position" << newHomePosition;
        qgcApp()->setLastKnownHomePosition(_homePosition);
        emit homePositionChanged(_homePosition);
    }
    if (emitHomePositionAvailableChanged) {
        emit homePositionAvailableChanged(true);
    }
}

void Vehicle::_handleHeartbeat(mavlink_message_t& message)
{
    _connectionActive();

    mavlink_heartbeat_t heartbeat;

    mavlink_msg_heartbeat_decode(&message, &heartbeat);

    bool newArmed = heartbeat.base_mode & MAV_MODE_FLAG_DECODE_POSITION_SAFETY;

    if (_armed != newArmed) {
        _armed = newArmed;
        emit armedChanged(_armed);

        // We are transitioning to the armed state, begin tracking trajectory points for the map
        if (_armed) {
            _mapTrajectoryStart();
        } else {
            _mapTrajectoryStop();
        }
    }

    if (heartbeat.base_mode != _base_mode || heartbeat.custom_mode != _custom_mode) {
        _base_mode = heartbeat.base_mode;
        _custom_mode = heartbeat.custom_mode;
        emit flightModeChanged(flightMode());
    }
}

void Vehicle::_handleRCChannels(mavlink_message_t& message)
{
    mavlink_rc_channels_t channels;

    mavlink_msg_rc_channels_decode(&message, &channels);

    uint16_t* _rgChannelvalues[cMaxRcChannels] = {
        &channels.chan1_raw,
        &channels.chan2_raw,
        &channels.chan3_raw,
        &channels.chan4_raw,
        &channels.chan5_raw,
        &channels.chan6_raw,
        &channels.chan7_raw,
        &channels.chan8_raw,
        &channels.chan9_raw,
        &channels.chan10_raw,
        &channels.chan11_raw,
        &channels.chan12_raw,
        &channels.chan13_raw,
        &channels.chan14_raw,
        &channels.chan15_raw,
        &channels.chan16_raw,
        &channels.chan17_raw,
        &channels.chan18_raw,
    };
    int pwmValues[cMaxRcChannels];

    for (int i=0; i<cMaxRcChannels; i++) {
        uint16_t channelValue = *_rgChannelvalues[i];

        if (i < channels.chancount) {
            pwmValues[i] = channelValue == UINT16_MAX ? -1 : channelValue;
        } else {
            pwmValues[i] = -1;
        }
    }

    emit remoteControlRSSIChanged(channels.rssi);
    emit rcChannelsChanged(channels.chancount, pwmValues);
}

void Vehicle::_handleRCChannelsRaw(mavlink_message_t& message)
{
    // We handle both RC_CHANNLES and RC_CHANNELS_RAW since different firmware will only
    // send one or the other.

    mavlink_rc_channels_raw_t channels;

    mavlink_msg_rc_channels_raw_decode(&message, &channels);

    uint16_t* _rgChannelvalues[cMaxRcChannels] = {
        &channels.chan1_raw,
        &channels.chan2_raw,
        &channels.chan3_raw,
        &channels.chan4_raw,
        &channels.chan5_raw,
        &channels.chan6_raw,
        &channels.chan7_raw,
        &channels.chan8_raw,
    };

    int pwmValues[cMaxRcChannels];
    int channelCount = 0;

    for (int i=0; i<cMaxRcChannels; i++) {
        pwmValues[i] = -1;
    }

    for (int i=0; i<8; i++) {
        uint16_t channelValue = *_rgChannelvalues[i];

        if (channelValue == UINT16_MAX) {
            pwmValues[i] = -1;
        } else {
            channelCount = i + 1;
            pwmValues[i] = channelValue;
        }
    }
    for (int i=9; i<18; i++) {
        pwmValues[i] = -1;
    }

    emit remoteControlRSSIChanged(channels.rssi);
    emit rcChannelsChanged(channelCount, pwmValues);
}

bool Vehicle::_containsLink(LinkInterface* link)
{
    return _links.contains(link);
}

void Vehicle::_addLink(LinkInterface* link)
{
    if (!_containsLink(link)) {
        _links += link;
        qCDebug(VehicleLog) << "_addLink:" << QString("%1").arg((ulong)link, 0, 16);
        connect(qgcApp()->toolbox()->linkManager(), &LinkManager::linkInactive, this, &Vehicle::_linkInactiveOrDeleted);
        connect(qgcApp()->toolbox()->linkManager(), &LinkManager::linkDeleted, this, &Vehicle::_linkInactiveOrDeleted);
    }
}

void Vehicle::_linkInactiveOrDeleted(LinkInterface* link)
{
    qCDebug(VehicleLog) << "_linkInactiveOrDeleted linkCount" << _links.count();

    _links.removeOne(link);

    if (_links.count() == 0 && !_allLinksInactiveSent) {
        qCDebug(VehicleLog) << "All links inactive";
        // Make sure to not send this more than one time
        _allLinksInactiveSent = true;
        emit allLinksInactive(this);
    }
}

void Vehicle::sendMessage(mavlink_message_t message)
{
    emit _sendMessageOnThread(message);
}

bool Vehicle::sendMessageOnLink(LinkInterface* link, mavlink_message_t message)
{
    if (!link || !_links.contains(link) || !link->isConnected()) {
        return false;
    }

    emit _sendMessageOnLinkOnThread(link, message);

    return true;
}

void Vehicle::_sendMessageOnLink(LinkInterface* link, mavlink_message_t message)
{
    // Make sure this is still a good link
    if (!link || !_links.contains(link) || !link->isConnected()) {
        return;
    }

    // Give the plugin a chance to adjust
    _firmwarePlugin->adjustOutgoingMavlinkMessage(this, &message);

    static const uint8_t messageKeys[256] = MAVLINK_MESSAGE_CRCS;
    mavlink_finalize_message_chan(&message, _mavlink->getSystemId(), _mavlink->getComponentId(), link->getMavlinkChannel(), message.len, messageKeys[message.msgid]);

    // Write message into buffer, prepending start sign
    uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
    int len = mavlink_msg_to_send_buffer(buffer, &message);

    link->writeBytes((const char*)buffer, len);
    _messagesSent++;
    emit messagesSentChanged();
}

void Vehicle::_sendMessage(mavlink_message_t message)
{
    // Emit message on all links that are currently connected
    foreach (LinkInterface* link, _links) {
        if (link->isConnected()) {
            _sendMessageOnLink(link, message);
        }
    }
}

/// @return Direct usb connection link to board if one, NULL if none
LinkInterface* Vehicle::priorityLink(void)
{
#ifndef __ios__
    foreach (LinkInterface* link, _links) {
        if (link->isConnected()) {
            SerialLink* pSerialLink = qobject_cast<SerialLink*>(link);
            if (pSerialLink) {
                LinkConfiguration* pLinkConfig = pSerialLink->getLinkConfiguration();
                if (pLinkConfig) {
                    SerialConfiguration* pSerialConfig = qobject_cast<SerialConfiguration*>(pLinkConfig);
                    if (pSerialConfig && pSerialConfig->usbDirect()) {
                        return link;
                    }
                }
            }
        }
    }
#endif
    return _links.count() ? _links[0] : NULL;
}

void Vehicle::setLatitude(double latitude)
{
    _coordinate.setLatitude(latitude);
    emit coordinateChanged(_coordinate);
}

void Vehicle::setLongitude(double longitude){
    _coordinate.setLongitude(longitude);
    emit coordinateChanged(_coordinate);
}

void Vehicle::_updateAttitude(UASInterface*, double roll, double pitch, double yaw, quint64)
{
    if (qIsInf(roll)) {
        _rollFact.setRawValue(0);
    } else {
        _rollFact.setRawValue(roll * (180.0 / M_PI));
    }
    if (qIsInf(pitch)) {
        _pitchFact.setRawValue(0);
    } else {
        _pitchFact.setRawValue(pitch * (180.0 / M_PI));
    }
    if (qIsInf(yaw)) {
        _headingFact.setRawValue(0);
    } else {
        yaw = yaw * (180.0 / M_PI);
        if (yaw < 0) yaw += 360;
        _headingFact.setRawValue(yaw);
    }
}

void Vehicle::_updateAttitude(UASInterface* uas, int, double roll, double pitch, double yaw, quint64 timestamp)
{
    _updateAttitude(uas, roll, pitch, yaw, timestamp);
}

void Vehicle::_updateSpeed(UASInterface*, double groundSpeed, double airSpeed, quint64)
{
    _groundSpeedFact.setRawValue(groundSpeed);
    _airSpeedFact.setRawValue(airSpeed);
}

void Vehicle::_updateAltitude(UASInterface*, double altitudeAMSL, double altitudeRelative, double climbRate, quint64)
{
    _altitudeAMSLFact.setRawValue(altitudeAMSL);
    _altitudeRelativeFact.setRawValue(altitudeRelative);
    _climbRateFact.setRawValue(climbRate);
}

void Vehicle::_updateNavigationControllerErrors(UASInterface*, double altitudeError, double speedError, double xtrackError) {
    _navigationAltitudeError   = altitudeError;
    _navigationSpeedError      = speedError;
    _navigationCrosstrackError = xtrackError;
}

void Vehicle::_updateNavigationControllerData(UASInterface *uas, float, float, float, float targetBearing, float) {
    if (_mav == uas) {
        _navigationTargetBearing = targetBearing;
    }
}

/*
 * Internal
 */

void Vehicle::_checkUpdate()
{
    // Update current location
    if(_mav) {
        if(latitude() != _mav->getLatitude()) {
            setLatitude(_mav->getLatitude());
        }
        if(longitude() != _mav->getLongitude()) {
            setLongitude(_mav->getLongitude());
        }
    }
}

QString Vehicle::getMavIconColor()
{
    // TODO: Not using because not only the colors are ghastly, it doesn't respect dark/light palette
    if(_mav)
        return _mav->getColor().name();
    else
        return QString("black");
}

QString Vehicle::formatedMessages()
{
    QString messages;
    foreach(UASMessage* message, qgcApp()->toolbox()->uasMessageHandler()->messages()) {
        messages += message->getFormatedText();
    }
    return messages;
}

void Vehicle::_handletextMessageReceived(UASMessage* message)
{
    if(message)
    {
        _formatedMessage = message->getFormatedText();
        emit formatedMessageChanged();
    }
}

void Vehicle::_updateState(UASInterface*, QString name, QString)
{
    if (_currentState != name) {
        _currentState = name;
        emit currentStateChanged();
    }
}

void Vehicle::_handleTextMessage(int newCount)
{
    // Reset?
    if(!newCount) {
        _currentMessageCount = 0;
        _currentNormalCount  = 0;
        _currentWarningCount = 0;
        _currentErrorCount   = 0;
        _messageCount        = 0;
        _currentMessageType  = MessageNone;
        emit newMessageCountChanged();
        emit messageTypeChanged();
        emit messageCountChanged();
        return;
    }

    UASMessageHandler* pMh = qgcApp()->toolbox()->uasMessageHandler();
    Q_ASSERT(pMh);
    MessageType_t type = newCount ? _currentMessageType : MessageNone;
    int errorCount     = _currentErrorCount;
    int warnCount      = _currentWarningCount;
    int normalCount    = _currentNormalCount;
    //-- Add current message counts
    errorCount  += pMh->getErrorCount();
    warnCount   += pMh->getWarningCount();
    normalCount += pMh->getNormalCount();
    //-- See if we have a higher level
    if(errorCount != _currentErrorCount) {
        _currentErrorCount = errorCount;
        type = MessageError;
    }
    if(warnCount != _currentWarningCount) {
        _currentWarningCount = warnCount;
        if(_currentMessageType != MessageError) {
            type = MessageWarning;
        }
    }
    if(normalCount != _currentNormalCount) {
        _currentNormalCount = normalCount;
        if(_currentMessageType != MessageError && _currentMessageType != MessageWarning) {
            type = MessageNormal;
        }
    }
    int count = _currentErrorCount + _currentWarningCount + _currentNormalCount;
    if(count != _currentMessageCount) {
        _currentMessageCount = count;
        // Display current total new messages count
        emit newMessageCountChanged();
    }
    if(type != _currentMessageType) {
        _currentMessageType = type;
        // Update message level
        emit messageTypeChanged();
    }
    // Update message count (all messages)
    if(newCount != _messageCount) {
        _messageCount = newCount;
        emit messageCountChanged();
    }
    QString errMsg = pMh->getLatestError();
    if(errMsg != _latestError) {
        _latestError = errMsg;
        emit latestErrorChanged();
    }
}

void Vehicle::resetMessages()
{
    // Reset Counts
    int count = _currentMessageCount;
    MessageType_t type = _currentMessageType;
    _currentErrorCount   = 0;
    _currentWarningCount = 0;
    _currentNormalCount  = 0;
    _currentMessageCount = 0;
    _currentMessageType = MessageNone;
    if(count != _currentMessageCount) {
        emit newMessageCountChanged();
    }
    if(type != _currentMessageType) {
        emit messageTypeChanged();
    }
}

int Vehicle::manualControlReservedButtonCount(void)
{
    return _firmwarePlugin->manualControlReservedButtonCount();
}

void Vehicle::_loadSettings(void)
{
    QSettings settings;

    settings.beginGroup(QString(_settingsGroup).arg(_id));

    bool convertOk;

    _joystickMode = (JoystickMode_t)settings.value(_joystickModeSettingsKey, JoystickModeRC).toInt(&convertOk);
    if (!convertOk) {
        _joystickMode = JoystickModeRC;
    }

    _joystickEnabled = settings.value(_joystickEnabledSettingsKey, false).toBool();
}

void Vehicle::_saveSettings(void)
{
    QSettings settings;

    settings.beginGroup(QString(_settingsGroup).arg(_id));

    settings.setValue(_joystickModeSettingsKey, _joystickMode);
    settings.setValue(_joystickEnabledSettingsKey, _joystickEnabled);
}