UAS.cc

        case MAVLINK_MSG_ID_MISSION_ACK:
        {
            if (!qgcApp()->useNewMissionEditor()) {
                mavlink_mission_ack_t ma;
                mavlink_msg_mission_ack_decode(&message, &ma);

                // Special case a 0 for the target system or component, it means that anyone is the target, so we should process this.
                if (ma.target_system == 0) {
                    ma.target_system = mavlink->getSystemId();
                }
                if (ma.target_component == 0) {
                    ma.target_component = mavlink->getComponentId();
                }

                // Check that the ack pertains to this UAS.
                if(ma.target_system == mavlink->getSystemId())
                {

                    if (ma.target_component != mavlink->getComponentId()) {
                        qDebug() << tr("The target component ID is not set correctly. This is currently only a warning, but will be turned into an error.");
                        qDebug() << "Expecting" << mavlink->getComponentId() << "but got" << ma.target_component;
                    }

                    _waypointManager->handleWaypointAck(message.sysid, message.compid, &ma);
                }
                else
                {
                    qDebug() << QString("Received mission ack message, but was wrong system id. Expected %1, received %2").arg(mavlink->getSystemId()).arg(ma.target_system);
                }
            }
        }
            break;

        case MAVLINK_MSG_ID_MISSION_REQUEST:
        {
            if (!qgcApp()->useNewMissionEditor()) {
                mavlink_mission_request_t mr;
                mavlink_msg_mission_request_decode(&message, &mr);

                // Special case a 0 for the target system or component, it means that anyone is the target, so we should process this.
                if (mr.target_system == 0) {
                    mr.target_system = mavlink->getSystemId();
                }
                if (mr.target_component == 0) {
                    mr.target_component = mavlink->getComponentId();
                }

                // Check that the request pertains to this UAS.
                if(mr.target_system == mavlink->getSystemId())
                {

                    if (mr.target_component != mavlink->getComponentId()) {
                        qDebug() << QString("The target component ID is not set correctly. This is currently only a warning, but will be turned into an error.");
                        qDebug() << "Expecting" << mavlink->getComponentId() << "but got" << mr.target_component;
                    }

                    _waypointManager->handleWaypointRequest(message.sysid, message.compid, &mr);
                }
                else
                {
                    qDebug() << QString("Received mission request message, but was wrong system id. Expected %1, received %2").arg(mavlink->getSystemId()).arg(mr.target_system);
                }
            }
        }
            break;

        case MAVLINK_MSG_ID_MISSION_ITEM_REACHED:
        {
            if (!qgcApp()->useNewMissionEditor()) {
                mavlink_mission_item_reached_t wpr;
                mavlink_msg_mission_item_reached_decode(&message, &wpr);
                _waypointManager->handleWaypointReached(message.sysid, message.compid, &wpr);
                QString text = QString("System %1 reached waypoint %2").arg(getUASID()).arg(wpr.seq);
                _say(text);
                emit textMessageReceived(message.sysid, message.compid, MAV_SEVERITY_INFO, text);
            }
        }
            break;

        case MAVLINK_MSG_ID_MISSION_CURRENT:
        {
            if (!qgcApp()->useNewMissionEditor()) {
                mavlink_mission_current_t wpc;
                mavlink_msg_mission_current_decode(&message, &wpc);
                _waypointManager->handleWaypointCurrent(message.sysid, message.compid, &wpc);
            }
        }
            break;

        case MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED:
        {
            if (multiComponentSourceDetected && wrongComponent)
            {
                break;
            }
            mavlink_position_target_local_ned_t p;
            mavlink_msg_position_target_local_ned_decode(&message, &p);
            quint64 time = getUnixTimeFromMs(p.time_boot_ms);
            emit positionSetPointsChanged(uasId, p.x, p.y, p.z, 0/* XXX remove yaw and move it to attitude */, time);
        }
            break;
        case MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED:
        {
            mavlink_set_position_target_local_ned_t p;
            mavlink_msg_set_position_target_local_ned_decode(&message, &p);
            emit userPositionSetPointsChanged(uasId, p.x, p.y, p.z, 0/* XXX remove yaw and move it to attitude */);
        }
            break;
        case MAVLINK_MSG_ID_STATUSTEXT:
        {
            QByteArray b;
            b.resize(MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1);
            mavlink_msg_statustext_get_text(&message, b.data());
 
            // Ensure NUL-termination
            b[b.length()-1] = '\0';
            QString text = QString(b);
            int severity = mavlink_msg_statustext_get_severity(&message);

	    // If the message is NOTIFY or higher severity, or starts with a '#',
	    // then read it aloud.
            if (text.startsWith("#") || severity <= MAV_SEVERITY_NOTICE)
            {
                text.remove("#");
                emit textMessageReceived(uasId, message.compid, severity, text);
                _say(text.toLower(), severity);
            }
            else
            {
                emit textMessageReceived(uasId, message.compid, severity, text);
            }
        }
            break;

        case MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE:
        {
            mavlink_data_transmission_handshake_t p;
            mavlink_msg_data_transmission_handshake_decode(&message, &p);
            imageSize = p.size;
            imagePackets = p.packets;
            imagePayload = p.payload;
            imageQuality = p.jpg_quality;
            imageType = p.type;
            imageWidth = p.width;
            imageHeight = p.height;
            imageStart = QGC::groundTimeMilliseconds();
            imagePacketsArrived = 0;

        }
            break;

        case MAVLINK_MSG_ID_ENCAPSULATED_DATA:
        {
            mavlink_encapsulated_data_t img;
            mavlink_msg_encapsulated_data_decode(&message, &img);
            int seq = img.seqnr;
            int pos = seq * imagePayload;

            // Check if we have a valid transaction
            if (imagePackets == 0)
            {
                // NO VALID TRANSACTION - ABORT
                // Restart statemachine
                imagePacketsArrived = 0;
                break;
            }

            for (int i = 0; i < imagePayload; ++i)
            {
                if (pos <= imageSize) {
                    imageRecBuffer[pos] = img.data[i];
                }
                ++pos;
            }

            ++imagePacketsArrived;

            // emit signal if all packets arrived
            if (imagePacketsArrived >= imagePackets)
            {
                // Restart statemachine
                imagePackets = 0;
                imagePacketsArrived = 0;
                emit imageReady(this);
            }
        }
            break;

        case MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT:
        {
            mavlink_nav_controller_output_t p;
            mavlink_msg_nav_controller_output_decode(&message,&p);
            setDistToWaypoint(p.wp_dist);
            setBearingToWaypoint(p.nav_bearing);
            emit navigationControllerErrorsChanged(this, p.alt_error, p.aspd_error, p.xtrack_error);
            emit NavigationControllerDataChanged(this, p.nav_roll, p.nav_pitch, p.nav_bearing, p.target_bearing, p.wp_dist);
        }
            break;
        // Messages to ignore
        case MAVLINK_MSG_ID_RAW_IMU:
        case MAVLINK_MSG_ID_SCALED_IMU:
        case MAVLINK_MSG_ID_RAW_PRESSURE:
        case MAVLINK_MSG_ID_SCALED_PRESSURE:
        case MAVLINK_MSG_ID_OPTICAL_FLOW:
        case MAVLINK_MSG_ID_DEBUG_VECT:
        case MAVLINK_MSG_ID_DEBUG:
        case MAVLINK_MSG_ID_NAMED_VALUE_FLOAT:
        case MAVLINK_MSG_ID_NAMED_VALUE_INT:
        case MAVLINK_MSG_ID_MANUAL_CONTROL:
        case MAVLINK_MSG_ID_HIGHRES_IMU:
        case MAVLINK_MSG_ID_DISTANCE_SENSOR:
            break;
        default:
        {
            if (!unknownPackets.contains(message.msgid))
            {
                unknownPackets.append(message.msgid);
                qDebug() << "Unknown message from system:" << uasId << "message:" << message.msgid;
            }
        }
            break;
        }
    }
}

/**
* Set the home position of the UAS.
* @param lat The latitude fo the home position
* @param lon The longitude of the home position
* @param alt The altitude of the home position
*/
void UAS::setHomePosition(double lat, double lon, double alt)
{
    if (!_vehicle || blockHomePositionChanges)
        return;

    QString uasName = (getUASName() == "")?
                tr("UAS") + QString::number(getUASID())
              : getUASName();

    QMessageBox::StandardButton button = QGCMessageBox::question(tr("Set a new home position for vehicle %1").arg(uasName),
                                                                 tr("Do you want to set a new origin? Waypoints defined in the local frame will be shifted in their physical location"),
                                                                 QMessageBox::Yes | QMessageBox::Cancel,
                                                                 QMessageBox::Cancel);
    if (button == QMessageBox::Yes)
    {
        mavlink_message_t msg;
        mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), 0, MAV_CMD_DO_SET_HOME, 1, 0, 0, 0, 0, lat, lon, alt);
        // Send message twice to increase chance that it reaches its goal
        _vehicle->sendMessage(msg);

        // Send new home position to UAS
        mavlink_set_gps_global_origin_t home;
        home.target_system = uasId;
        home.latitude = lat*1E7;
        home.longitude = lon*1E7;
        home.altitude = alt*1000;
        qDebug() << "lat:" << home.latitude << " lon:" << home.longitude;
        mavlink_msg_set_gps_global_origin_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &home);
        _vehicle->sendMessage(msg);
    } else {
        blockHomePositionChanges = true;
    }
}

void UAS::startCalibration(UASInterface::StartCalibrationType calType)
{
    if (!_vehicle) {
        return;
    }
    
    int gyroCal = 0;
    int magCal = 0;
    int airspeedCal = 0;
    int radioCal = 0;
    int accelCal = 0;
    int escCal = 0;
    
    switch (calType) {
        case StartCalibrationGyro:
            gyroCal = 1;
            break;
        case StartCalibrationMag:
            magCal = 1;
            break;
        case StartCalibrationAirspeed:
            airspeedCal = 1;
            break;
        case StartCalibrationRadio:
            radioCal = 1;
            break;
        case StartCalibrationCopyTrims:
            radioCal = 2;
            break;
        case StartCalibrationAccel:
            accelCal = 1;
            break;
        case StartCalibrationLevel:
            accelCal = 2;
            break;
        case StartCalibrationEsc:
            escCal = 1;
            break;
        case StartCalibrationUavcanEsc:
            escCal = 2;
            break;
    }
    
    mavlink_message_t msg;
    mavlink_msg_command_long_pack(mavlink->getSystemId(),
                                  mavlink->getComponentId(),
                                  &msg,
                                  uasId,
                                  0,                                // target component
                                  MAV_CMD_PREFLIGHT_CALIBRATION,    // command id
                                  0,                                // 0=first transmission of command
                                  gyroCal,                          // gyro cal
                                  magCal,                           // mag cal
                                  0,                                // ground pressure
                                  radioCal,                         // radio cal
                                  accelCal,                         // accel cal
                                  airspeedCal,                      // airspeed cal
                                  escCal);                          // esc cal
    _vehicle->sendMessage(msg);
}

void UAS::stopCalibration(void)
{
    if (!_vehicle) {
        return;
    }
    
    mavlink_message_t msg;
    mavlink_msg_command_long_pack(mavlink->getSystemId(),
                                  mavlink->getComponentId(),
                                  &msg,
                                  uasId,
                                  0,                                // target component
                                  MAV_CMD_PREFLIGHT_CALIBRATION,    // command id
                                  0,                                // 0=first transmission of command
                                  0,                                // gyro cal
                                  0,                                // mag cal
                                  0,                                // ground pressure
                                  0,                                // radio cal
                                  0,                                // accel cal
                                  0,                                // airspeed cal
                                  0);                               // unused
    _vehicle->sendMessage(msg);
}

void UAS::startBusConfig(UASInterface::StartBusConfigType calType)
{
    if (!_vehicle) {
        return;
    }
    
   int actuatorCal = 0;

    switch (calType) {
        case StartBusConfigActuators:
            actuatorCal = 1;
            break;
    }

    mavlink_message_t msg;
    mavlink_msg_command_long_pack(mavlink->getSystemId(),
                                  mavlink->getComponentId(),
                                  &msg,
                                  uasId,
                                  0,                                // target component
                                  MAV_CMD_PREFLIGHT_UAVCAN,    // command id
                                  0,                                // 0=first transmission of command
                                  actuatorCal,                      // actuators
                                  0,
                                  0,
                                  0,
                                  0,
                                  0,
                                  0);
    _vehicle->sendMessage(msg);
}

void UAS::stopBusConfig(void)
{
    if (!_vehicle) {
        return;
    }
    
    mavlink_message_t msg;
    mavlink_msg_command_long_pack(mavlink->getSystemId(),
                                  mavlink->getComponentId(),
                                  &msg,
                                  uasId,
                                  0,                                // target component
                                  MAV_CMD_PREFLIGHT_UAVCAN,    // command id
                                  0,                                // 0=first transmission of command
                                  0,
                                  0,
                                  0,
                                  0,
                                  0,
                                  0,
                                  0);
    _vehicle->sendMessage(msg);
}

/**
* 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.
*/
quint64 UAS::getUnixReferenceTime(quint64 time)
{
    // Same as getUnixTime, but does not react to attitudeStamped mode
    if (time == 0)
    {
        //        qDebug() << "XNEW time:" <<QGC::groundTimeMilliseconds();
        return QGC::groundTimeMilliseconds();
    }
    // 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
#ifndef _MSC_VER
    else if (time < 1261440000000000LLU)
#else
    else if (time < 1261440000000000)
#endif
    {
        //        qDebug() << "GEN time:" << time/1000 + onboardTimeOffset;
        if (onboardTimeOffset == 0)
        {
            onboardTimeOffset = QGC::groundTimeMilliseconds() - 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;
    }
}

/**
* @warning If attitudeStamped is enabled, this function will not actually return
* the precise time stamp of this measurement augmented to UNIX time, but will
* MOVE the timestamp IN TIME to match the last measured attitude. There is no
* reason why one would want this, except for system setups where the onboard
* clock is not present or broken and datasets should be collected that are still
* roughly synchronized. PLEASE NOTE THAT ENABLING ATTITUDE STAMPED RUINS THE
* SCIENTIFIC NATURE OF THE CORRECT LOGGING FUNCTIONS OF QGROUNDCONTROL!
*/
quint64 UAS::getUnixTimeFromMs(quint64 time)
{
    return getUnixTime(time*1000);
}

/**
* @warning If attitudeStamped is enabled, this function will not actually return
* the precise time stam of this measurement augmented to UNIX time, but will
* MOVE the timestamp IN TIME to match the last measured attitude. There is no
* reason why one would want this, except for system setups where the onboard
* clock is not present or broken and datasets should be collected that are
* still roughly synchronized. PLEASE NOTE THAT ENABLING ATTITUDE STAMPED
* RUINS THE SCIENTIFIC NATURE OF THE CORRECT LOGGING FUNCTIONS OF QGROUNDCONTROL!
*/
quint64 UAS::getUnixTime(quint64 time)
{
    quint64 ret = 0;
    if (attitudeStamped)
    {
        ret = lastAttitude;
    }

    if (time == 0)
    {
        ret = QGC::groundTimeMilliseconds();
    }
    // 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
#ifndef _MSC_VER
    else if (time < 1261440000000000LLU)
#else
    else if (time < 1261440000000000)
#endif
    {
        //        qDebug() << "GEN time:" << time/1000 + onboardTimeOffset;
        if (onboardTimeOffset == 0 || time < (lastNonNullTime - 100))
        {
            lastNonNullTime = time;
            onboardTimeOffset = QGC::groundTimeMilliseconds() - time/1000;
        }
        if (time > lastNonNullTime) lastNonNullTime = time;

        ret = time/1000 + onboardTimeOffset;
    }
    else
    {
        // Time is not zero and larger than 40 years -> has to be
        // a Unix epoch timestamp. Do nothing.
        ret = time/1000;
    }

    return ret;
}

/**
 * @param value battery voltage
 */
float UAS::filterVoltage(float value) const
{
    return lpVoltage * 0.6f + value * 0.4f;
}

/**
* Get the status of the code and a description of the status.
* Status can be unitialized, booting up, calibrating sensors, active
* standby, cirtical, emergency, shutdown or unknown.
*/
void UAS::getStatusForCode(int statusCode, QString& uasState, QString& stateDescription)
{
    switch (statusCode)
    {
    case MAV_STATE_UNINIT:
        uasState = tr("UNINIT");
        stateDescription = tr("Unitialized, booting up.");
        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, please wait.");
        break;
    case MAV_STATE_ACTIVE:
        uasState = tr("ACTIVE");
        stateDescription = tr("Active, normal operation.");
        break;
    case MAV_STATE_STANDBY:
        uasState = tr("STANDBY");
        stateDescription = tr("Standby mode, ready for launch.");
        break;
    case MAV_STATE_CRITICAL:
        uasState = tr("CRITICAL");
        stateDescription = tr("FAILURE: Continuing operation.");
        break;
    case MAV_STATE_EMERGENCY:
        uasState = tr("EMERGENCY");
        stateDescription = tr("EMERGENCY: Land Immediately!");
        break;
        //case MAV_STATE_HILSIM:
        //uasState = tr("HIL SIM");
        //stateDescription = tr("HIL Simulation, Sensors read from SIM");
        //break;

    case MAV_STATE_POWEROFF:
        uasState = tr("SHUTDOWN");
        stateDescription = tr("Powering off system.");
        break;

    default:
        uasState = tr("UNKNOWN");
        stateDescription = tr("Unknown system state");
        break;
    }
}

QImage UAS::getImage()
{

//    qDebug() << "IMAGE TYPE:" << imageType;

    // RAW greyscale
    if (imageType == MAVLINK_DATA_STREAM_IMG_RAW8U)
    {
        int imgColors = 255;

        // Construct PGM header
        QString header("P5\n%1 %2\n%3\n");
        header = header.arg(imageWidth).arg(imageHeight).arg(imgColors);

        QByteArray tmpImage(header.toStdString().c_str(), header.length());
        tmpImage.append(imageRecBuffer);

        //qDebug() << "IMAGE SIZE:" << tmpImage.size() << "HEADER SIZE: (15):" << header.size() << "HEADER: " << header;

        if (imageRecBuffer.isNull())
        {
            qDebug()<< "could not convertToPGM()";
            return QImage();
        }

        if (!image.loadFromData(tmpImage, "PGM"))
        {
            qDebug()<< __FILE__ << __LINE__ << "could not create extracted image";
            return QImage();
        }

    }
    // BMP with header
    else if (imageType == MAVLINK_DATA_STREAM_IMG_BMP ||
             imageType == MAVLINK_DATA_STREAM_IMG_JPEG ||
             imageType == MAVLINK_DATA_STREAM_IMG_PGM ||
             imageType == MAVLINK_DATA_STREAM_IMG_PNG)
    {
        if (!image.loadFromData(imageRecBuffer))
        {
            qDebug() << __FILE__ << __LINE__ << "Loading data from image buffer failed!";
            return QImage();
        }
    }

    // Restart statemachine
    imagePacketsArrived = 0;
    imagePackets = 0;
    imageRecBuffer.clear();
    return image;
}

void UAS::requestImage()
{
    if (!_vehicle) {
        return;
    }
    
   qDebug() << "trying to get an image from the uas...";

    // check if there is already an image transmission going on
    if (imagePacketsArrived == 0)
    {
        mavlink_message_t msg;
        mavlink_msg_data_transmission_handshake_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, MAVLINK_DATA_STREAM_IMG_JPEG, 0, 0, 0, 0, 0, 50);
        _vehicle->sendMessage(msg);
    }
}


/* MANAGEMENT */

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

bool UAS::isRotaryWing()
{
    switch (type) {
        case MAV_TYPE_QUADROTOR:
        /* fallthrough */
        case MAV_TYPE_COAXIAL:
        case MAV_TYPE_HELICOPTER:
        case MAV_TYPE_HEXAROTOR:
        case MAV_TYPE_OCTOROTOR:
        case MAV_TYPE_TRICOPTER:
            return true;
        default:
            return false;
    }
}

bool UAS::isFixedWing()
{
    switch (type) {
        case MAV_TYPE_FIXED_WING:
            return true;
        default:
            return false;
    }
}

//TODO update this to use the parameter manager / param data model instead
void UAS::processParamValueMsg(mavlink_message_t& msg, const QString& paramName, const mavlink_param_value_t& rawValue,  mavlink_param_union_t& paramUnion)
{
    int compId = msg.compid;

    QVariant paramValue;

    // Insert with correct type

    switch (rawValue.param_type) {
        case MAV_PARAM_TYPE_REAL32:
            paramValue = QVariant(paramUnion.param_float);
            break;

        case MAV_PARAM_TYPE_UINT8:
            paramValue = QVariant(paramUnion.param_uint8);
            break;

        case MAV_PARAM_TYPE_INT8:
            paramValue = QVariant(paramUnion.param_int8);
            break;

        case MAV_PARAM_TYPE_INT16:
            paramValue = QVariant(paramUnion.param_int16);
            break;

        case MAV_PARAM_TYPE_UINT32:
            paramValue = QVariant(paramUnion.param_uint32);
            break;
            
        case MAV_PARAM_TYPE_INT32:
            paramValue = QVariant(paramUnion.param_int32);
            break;

        default:
            qCritical() << "INVALID DATA TYPE USED AS PARAMETER VALUE: " << rawValue.param_type;
    }

    qCDebug(UASLog) << "Received PARAM_VALUE" << paramName << paramValue << rawValue.param_type;

    emit parameterUpdate(uasId, compId, paramName, rawValue.param_count, rawValue.param_index, rawValue.param_type, paramValue);
}

/**
* @param systemType Type of MAV.
*/
void UAS::setSystemType(int systemType)
{
    if((systemType >= MAV_TYPE_GENERIC) && (systemType < MAV_TYPE_ENUM_END))
    {
      type = systemType;

      // If the airframe is still generic, change it to a close default type
      if (airframe == 0)
      {
          switch (type)
          {
          case MAV_TYPE_FIXED_WING:
              setAirframe(UASInterface::QGC_AIRFRAME_EASYSTAR);
              break;
          case MAV_TYPE_QUADROTOR:
              setAirframe(UASInterface::QGC_AIRFRAME_CHEETAH);
              break;
          case MAV_TYPE_HEXAROTOR:
              setAirframe(UASInterface::QGC_AIRFRAME_HEXCOPTER);
              break;
          default:
              // Do nothing
              break;
          }
      }
      emit systemSpecsChanged(uasId);
      emit systemTypeSet(this, type);
      qDebug() << "TYPE CHANGED TO:" << type;
   }
}

void UAS::executeCommand(MAV_CMD command, int confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7, int component)
{
    if (!_vehicle) {
        return;
    }
    
    mavlink_message_t msg;
    mavlink_command_long_t cmd;
    cmd.command = (uint16_t)command;
    cmd.confirmation = confirmation;
    cmd.param1 = param1;
    cmd.param2 = param2;
    cmd.param3 = param3;
    cmd.param4 = param4;
    cmd.param5 = param5;
    cmd.param6 = param6;
    cmd.param7 = param7;
    cmd.target_system = uasId;
    cmd.target_component = component;
    mavlink_msg_command_long_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &cmd);
    _vehicle->sendMessage(msg);
}

/**
* Set the manual control commands.
* This can only be done if the system has manual inputs enabled and is armed.
*/
#ifndef __mobile__
void UAS::setExternalControlSetpoint(float roll, float pitch, float yaw, float thrust, quint16 buttons, int joystickMode)
{
    if (!_vehicle) {
        return;
    }
    
    // Store the previous manual commands
    static float manualRollAngle = 0.0;
    static float manualPitchAngle = 0.0;
    static float manualYawAngle = 0.0;
    static float manualThrust = 0.0;
    static quint16 manualButtons = 0;
    static quint8 countSinceLastTransmission = 0; // Track how many calls to this function have occurred since the last MAVLink transmission

    // Transmit the external setpoints only if they've changed OR if it's been a little bit since they were last transmit. To make sure there aren't issues with
    // response rate, we make sure that a message is transmit when the commands have changed, then one more time, and then switch to the lower transmission rate
    // if no command inputs have changed.

    // The default transmission rate is 25Hz, but when no inputs have changed it drops down to 5Hz.
    bool sendCommand = false;
    if (countSinceLastTransmission++ >= 5) {
        sendCommand = true;
        countSinceLastTransmission = 0;
    } else if ((!isnan(roll) && roll != manualRollAngle) || (!isnan(pitch) && pitch != manualPitchAngle) ||
             (!isnan(yaw) && yaw != manualYawAngle) || (!isnan(thrust) && thrust != manualThrust) ||
             buttons != manualButtons) {
        sendCommand = true;

        // Ensure that another message will be sent the next time this function is called
        countSinceLastTransmission = 10;
    }

    // Now if we should trigger an update, let's do that
    if (sendCommand) {
        // Save the new manual control inputs
        manualRollAngle = roll;
        manualPitchAngle = pitch;
        manualYawAngle = yaw;
        manualThrust = thrust;
        manualButtons = buttons;

        mavlink_message_t message;

        if (joystickMode == Vehicle::JoystickModeAttitude) {
            // send an external attitude setpoint command (rate control disabled)
            float attitudeQuaternion[4];
            mavlink_euler_to_quaternion(roll, pitch, yaw, attitudeQuaternion);
            uint8_t typeMask = 0x7; // disable rate control
            mavlink_msg_set_attitude_target_pack(mavlink->getSystemId(),
                mavlink->getComponentId(),
                &message,
                QGC::groundTimeUsecs(),
                this->uasId,
                0,
                typeMask,
                attitudeQuaternion,
                0,
                0,
                0,
                thrust
                );
        } else if (joystickMode == Vehicle::JoystickModePosition) {
            // Send the the local position setpoint (local pos sp external message)
            static float px = 0;
            static float py = 0;
            static float pz = 0;
            //XXX: find decent scaling
            px -= pitch;
            py += roll;
            pz -= 2.0f*(thrust-0.5);
            uint16_t typeMask = (1<<11)|(7<<6)|(7<<3); // select only POSITION control
            mavlink_msg_set_position_target_local_ned_pack(mavlink->getSystemId(),
                    mavlink->getComponentId(),
                    &message,
                    QGC::groundTimeUsecs(),
                    this->uasId,
                    0,
                    MAV_FRAME_LOCAL_NED,
                    typeMask,
                    px,
                    py,
                    pz,
                    0,
                    0,
                    0,
                    0,
                    0,
                    0,
                    yaw,
                    0
                    );
        } else if (joystickMode == Vehicle::JoystickModeForce) {
            // Send the the force setpoint (local pos sp external message)
            float dcm[3][3];
            mavlink_euler_to_dcm(roll, pitch, yaw, dcm);
            const float fx = -dcm[0][2] * thrust;
            const float fy = -dcm[1][2] * thrust;
            const float fz = -dcm[2][2] * thrust;
            uint16_t typeMask = (3<<10)|(7<<3)|(7<<0)|(1<<9); // select only FORCE control (disable everything else)
            mavlink_msg_set_position_target_local_ned_pack(mavlink->getSystemId(),
                    mavlink->getComponentId(),
                    &message,
                    QGC::groundTimeUsecs(),
                    this->uasId,
                    0,
                    MAV_FRAME_LOCAL_NED,
                    typeMask,
                    0,
                    0,
                    0,
                    0,
                    0,
                    0,
                    fx,
                    fy,
                    fz,
                    0,
                    0
                    );
        } else if (joystickMode == Vehicle::JoystickModeVelocity) {
            // Send the the local velocity setpoint (local pos sp external message)
            static float vx = 0;
            static float vy = 0;
            static float vz = 0;
            static float yawrate = 0;
            //XXX: find decent scaling
            vx -= pitch;
            vy += roll;
            vz -= 2.0f*(thrust-0.5);
            yawrate += yaw; //XXX: not sure what scale to apply here
            uint16_t typeMask = (1<<10)|(7<<6)|(7<<0); // select only VELOCITY control
            mavlink_msg_set_position_target_local_ned_pack(mavlink->getSystemId(),
                    mavlink->getComponentId(),
                    &message,
                    QGC::groundTimeUsecs(),
                    this->uasId,
                    0,
                    MAV_FRAME_LOCAL_NED,
                    typeMask,
                    0,
                    0,
                    0,
                    vx,
                    vy,
                    vz,
                    0,
                    0,
                    0,
                    0,
                    yawrate
                    );
        } else if (joystickMode == Vehicle::JoystickModeRC) {

            // Save the new manual control inputs
            manualRollAngle = roll;
            manualPitchAngle = pitch;
            manualYawAngle = yaw;
            manualThrust = thrust;
            manualButtons = buttons;

            // Store scaling values for all 3 axes
            const float axesScaling = 1.0 * 1000.0;
            
            // Calculate the new commands for roll, pitch, yaw, and thrust
            const float newRollCommand = roll * axesScaling;
            // negate pitch value because pitch is negative for pitching forward but mavlink message argument is positive for forward
            const float newPitchCommand = -pitch * axesScaling;
            const float newYawCommand = yaw * axesScaling;
            const float newThrustCommand = thrust * axesScaling;

            //qDebug() << newRollCommand << newPitchCommand << newYawCommand << newThrustCommand;
            
            // Send the MANUAL_COMMAND message
            mavlink_msg_manual_control_pack(mavlink->getSystemId(), mavlink->getComponentId(), &message, this->uasId, newPitchCommand, newRollCommand, newThrustCommand, newYawCommand, buttons);
        }

        _vehicle->sendMessage(message);
        // Emit an update in control values to other UI elements, like the HSI display
        emit attitudeThrustSetPointChanged(this, roll, pitch, yaw, thrust, QGC::groundTimeMilliseconds());
    }
}
#endif

#ifndef __mobile__