UAS.cc

        case MAVLINK_MSG_ID_MISSION_REQUEST:
        {
            mavlink_mission_request_t wpr;
            mavlink_msg_mission_request_decode(&message, &wpr);
            if(wpr.target_system == mavlink->getSystemId() || wpr.target_system == 0)
            {
                waypointManager.handleWaypointRequest(message.sysid, message.compid, &wpr);
            }
            else
            {
                qDebug() << "Got waypoint message, but was wrong system id" << wpr.target_system;
            }
        }
            break;

        case MAVLINK_MSG_ID_MISSION_ITEM_REACHED:
        {
            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(getUASName()).arg(wpr.seq);
            GAudioOutput::instance()->say(text);
            emit textMessageReceived(message.sysid, message.compid, 0, text);
        }
            break;

        case MAVLINK_MSG_ID_MISSION_CURRENT:
        {
            mavlink_mission_current_t wpc;
            mavlink_msg_mission_current_decode(&message, &wpc);
            waypointManager.handleWaypointCurrent(message.sysid, message.compid, &wpc);
        }
            break;

        case MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT:
        {
            if (multiComponentSourceDetected && wrongComponent)
            {
                break;
            }
            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_SET_LOCAL_POSITION_SETPOINT:
        {
            mavlink_set_local_position_setpoint_t p;
            mavlink_msg_set_local_position_setpoint_decode(&message, &p);
            emit userPositionSetPointsChanged(uasId, p.x, p.y, p.z, p.yaw);
        }
            break;
        case MAVLINK_MSG_ID_STATUSTEXT:
        {
            QByteArray b;
            b.resize(MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN);
            mavlink_msg_statustext_get_text(&message, 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);

            if (text.startsWith("#audio:"))
            {
                text.remove("#audio:");
                emit textMessageReceived(uasId, message.compid, severity, QString("Audio message: ") + text);
                GAudioOutput::instance()->say(text, severity);
            }
            else
            {
                emit textMessageReceived(uasId, message.compid, severity, text);
            }
        }
            break;
        case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW:
        {
            mavlink_servo_output_raw_t raw;
            mavlink_msg_servo_output_raw_decode(&message, &raw);

            if (hilEnabled)
            {
                emit hilActuatorsChanged(static_cast<uint64_t>(getUnixTimeFromMs(raw.time_boot_ms)), static_cast<float>(raw.servo1_raw),
                                     static_cast<float>(raw.servo2_raw), static_cast<float>(raw.servo3_raw),
                                     static_cast<float>(raw.servo4_raw), static_cast<float>(raw.servo5_raw), static_cast<float>(raw.servo6_raw),
                                     static_cast<float>(raw.servo7_raw), static_cast<float>(raw.servo8_raw));
            }
        }
        break;
#ifdef MAVLINK_ENABLED_PIXHAWK
        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();
        }
            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;
            }

            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
                imagePacketsArrived = 0;
                emit imageReady(this);
                //qDebug() << "imageReady emitted. all packets arrived";
            }
        }
            break;



#endif
            //        case MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT:
            //        {
            //            mavlink_object_detection_event_t event;
            //            mavlink_msg_object_detection_event_decode(&message, &event);
            //            QString str(event.name);
            //            emit objectDetected(event.time, event.object_id, event.type, str, event.quality, event.bearing, event.distance);
            //        }
            //        break;
            // WILL BE ENABLED ONCE MESSAGE IS IN COMMON MESSAGE SET
            //        case MAVLINK_MSG_ID_MEMORY_VECT:
            //        {
            //            mavlink_memory_vect_t vect;
            //            mavlink_msg_memory_vect_decode(&message, &vect);
            //            QString str("mem_%1");
            //            quint64 time = getUnixTime(0);
            //            int16_t *mem0 = (int16_t *)&vect.value[0];
            //            uint16_t *mem1 = (uint16_t *)&vect.value[0];
            //            int32_t *mem2 = (int32_t *)&vect.value[0];
            //            // uint32_t *mem3 = (uint32_t *)&vect.value[0]; causes overload problem
            //            float *mem4 = (float *)&vect.value[0];
            //            if ( vect.ver == 0) vect.type = 0, vect.ver = 1; else ;
            //            if ( vect.ver == 1)
            //            {
            //                switch (vect.type) {
            //                default:
            //                case 0:
            //                    for (int i = 0; i < 16; i++)
            //                        // FIXME REMOVE LATER emit valueChanged(uasId, str.arg(vect.address+(i*2)), "i16", mem0[i], time);
            //                    break;
            //                case 1:
            //                    for (int i = 0; i < 16; i++)
            //                        // FIXME REMOVE LATER emit valueChanged(uasId, str.arg(vect.address+(i*2)), "ui16", mem1[i], time);
            //                    break;
            //                case 2:
            //                    for (int i = 0; i < 16; i++)
            //                        // FIXME REMOVE LATER emit valueChanged(uasId, str.arg(vect.address+(i*2)), "Q15", (float)mem0[i]/32767.0, time);
            //                    break;
            //                case 3:
            //                    for (int i = 0; i < 16; i++)
            //                        // FIXME REMOVE LATER emit valueChanged(uasId, str.arg(vect.address+(i*2)), "1Q14", (float)mem0[i]/16383.0, time);
            //                    break;
            //                case 4:
            //                    for (int i = 0; i < 8; i++)
            //                        // FIXME REMOVE LATER emit valueChanged(uasId, str.arg(vect.address+(i*4)), "i32", mem2[i], time);
            //                    break;
            //                case 5:
            //                    for (int i = 0; i < 8; i++)
            //                        // FIXME REMOVE LATER emit valueChanged(uasId, str.arg(vect.address+(i*4)), "i32", mem2[i], time);
            //                    break;
            //                case 6:
            //                    for (int i = 0; i < 8; i++)
            //                        // FIXME REMOVE LATER emit valueChanged(uasId, str.arg(vect.address+(i*4)), "float", mem4[i], time);
            //                    break;
            //                }
            //            }
            //        }
            //        break;
#ifdef MAVLINK_ENABLED_UALBERTA
        case MAVLINK_MSG_ID_NAV_FILTER_BIAS:
        {
            mavlink_nav_filter_bias_t bias;
            mavlink_msg_nav_filter_bias_decode(&message, &bias);
            quint64 time = getUnixTime();
            // FIXME REMOVE LATER emit valueChanged(uasId, "b_f[0]", "raw", bias.accel_0, time);
            // FIXME REMOVE LATER emit valueChanged(uasId, "b_f[1]", "raw", bias.accel_1, time);
            // FIXME REMOVE LATER emit valueChanged(uasId, "b_f[2]", "raw", bias.accel_2, time);
            // FIXME REMOVE LATER emit valueChanged(uasId, "b_w[0]", "raw", bias.gyro_0, time);
            // FIXME REMOVE LATER emit valueChanged(uasId, "b_w[1]", "raw", bias.gyro_1, time);
            // FIXME REMOVE LATER emit valueChanged(uasId, "b_w[2]", "raw", bias.gyro_2, time);
        }
            break;
        case MAVLINK_MSG_ID_RADIO_CALIBRATION:
        {
            mavlink_radio_calibration_t radioMsg;
            mavlink_msg_radio_calibration_decode(&message, &radioMsg);
            QVector<uint16_t> aileron;
            QVector<uint16_t> elevator;
            QVector<uint16_t> rudder;
            QVector<uint16_t> gyro;
            QVector<uint16_t> pitch;
            QVector<uint16_t> throttle;

            for (int i=0; i<MAVLINK_MSG_RADIO_CALIBRATION_FIELD_AILERON_LEN; ++i)
                aileron << radioMsg.aileron[i];
            for (int i=0; i<MAVLINK_MSG_RADIO_CALIBRATION_FIELD_ELEVATOR_LEN; ++i)
                elevator << radioMsg.elevator[i];
            for (int i=0; i<MAVLINK_MSG_RADIO_CALIBRATION_FIELD_RUDDER_LEN; ++i)
                rudder << radioMsg.rudder[i];
            for (int i=0; i<MAVLINK_MSG_RADIO_CALIBRATION_FIELD_GYRO_LEN; ++i)
                gyro << radioMsg.gyro[i];
            for (int i=0; i<MAVLINK_MSG_RADIO_CALIBRATION_FIELD_PITCH_LEN; ++i)
                pitch << radioMsg.pitch[i];
            for (int i=0; i<MAVLINK_MSG_RADIO_CALIBRATION_FIELD_THROTTLE_LEN; ++i)
                throttle << radioMsg.throttle[i];

            QPointer<RadioCalibrationData> radioData = new RadioCalibrationData(aileron, elevator, rudder, gyro, pitch, throttle);
            emit radioCalibrationReceived(radioData);
            delete radioData;
        }
            break;

#endif
            // Messages to ignore
        case MAVLINK_MSG_ID_RAW_IMU:
        case MAVLINK_MSG_ID_SCALED_IMU:
        case MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT:
        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:
            break;
        default:
        {
            if (!unknownPackets.contains(message.msgid))
            {
                unknownPackets.append(message.msgid);
                QString errString = tr("UNABLE TO DECODE MESSAGE NUMBER %1").arg(message.msgid);
                //GAudioOutput::instance()->say(errString+tr(", please check console for details."));
                emit textMessageReceived(uasId, message.compid, 255, errString);
                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;
        }
    }
}


#if defined(QGC_PROTOBUF_ENABLED)
/**
* Receive an extended message.
* @param link
* @param message
*/
void UAS::receiveExtendedMessage(LinkInterface* link, std::tr1::shared_ptr<google::protobuf::Message> message)
{
    if (!link)
    {
        return;
    }
    if (!links->contains(link))
    {
        addLink(link);
    }

    const google::protobuf::Descriptor* descriptor = message->GetDescriptor();
    if (!descriptor)
    {
        return;
    }

    const google::protobuf::FieldDescriptor* headerField = descriptor->FindFieldByName("header");
    if (!headerField)
    {
        return;
    }

    const google::protobuf::Descriptor* headerDescriptor = headerField->message_type();
    if (!headerDescriptor)
    {
        return;
    }

    const google::protobuf::FieldDescriptor* sourceSysIdField = headerDescriptor->FindFieldByName("source_sysid");
    if (!sourceSysIdField)
    {
        return;
    }

    const google::protobuf::Reflection* reflection = message->GetReflection();
    const google::protobuf::Message& headerMsg = reflection->GetMessage(*message, headerField);
    const google::protobuf::Reflection* headerReflection = headerMsg.GetReflection();

    int source_sysid = headerReflection->GetInt32(headerMsg, sourceSysIdField);

    if (source_sysid != uasId)
    {
        return;
    }

#ifdef QGC_USE_PIXHAWK_MESSAGES
    if (message->GetTypeName() == overlay.GetTypeName())
    {
        receivedOverlayTimestamp = QGC::groundTimeSeconds();
        overlayMutex.lock();
        overlay.CopyFrom(*message);
        overlayMutex.unlock();
        emit overlayChanged(this);
    }
    else if (message->GetTypeName() == obstacleList.GetTypeName())
    {
        receivedObstacleListTimestamp = QGC::groundTimeSeconds();
        obstacleListMutex.lock();
        obstacleList.CopyFrom(*message);
        obstacleListMutex.unlock();
        emit obstacleListChanged(this);
    }
    else if (message->GetTypeName() == path.GetTypeName())
    {
        receivedPathTimestamp = QGC::groundTimeSeconds();
        pathMutex.lock();
        path.CopyFrom(*message);
        pathMutex.unlock();
        emit pathChanged(this);
    }
    else if (message->GetTypeName() == pointCloud.GetTypeName())
    {
        receivedPointCloudTimestamp = QGC::groundTimeSeconds();
        pointCloudMutex.lock();
        pointCloud.CopyFrom(*message);
        pointCloudMutex.unlock();
        emit pointCloudChanged(this);
    }
    else if (message->GetTypeName() == rgbdImage.GetTypeName())
    {
        receivedRGBDImageTimestamp = QGC::groundTimeSeconds();
        rgbdImageMutex.lock();
        rgbdImage.CopyFrom(*message);
        rgbdImageMutex.unlock();
        emit rgbdImageChanged(this);
    }
#endif
}

#endif

/**
* Set the home position of the UAS.
* @param lat The latitude fo the home position
* @param lon The longitute of the home position
* @param alt The altitude of the home position
*/
void UAS::setHomePosition(double lat, double lon, double alt)
{
    QMessageBox msgBox;
    msgBox.setIcon(QMessageBox::Warning);
    msgBox.setText("Setting new World Coordinate Frame Origin");
    msgBox.setInformativeText("Do you want to set a new origin? Waypoints defined in the local frame will be shifted in their physical location");
    msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::Cancel);
    msgBox.setDefaultButton(QMessageBox::Cancel);
    int ret = msgBox.exec();

    // Close the message box shortly after the click to prevent accidental clicks
    QTimer::singleShot(5000, &msgBox, SLOT(reject()));


    if (ret == 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
        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);
        sendMessage(msg);
    }
}

/**
* Set the origin to the current GPS location.
**/
void UAS::setLocalOriginAtCurrentGPSPosition()
{
    QMessageBox msgBox;
    msgBox.setIcon(QMessageBox::Warning);
    msgBox.setText("Setting new World Coordinate Frame Origin");
    msgBox.setInformativeText("Do you want to set a new origin? Waypoints defined in the local frame will be shifted in their physical location");
    msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::Cancel);
    msgBox.setDefaultButton(QMessageBox::Cancel);
    int ret = msgBox.exec();

    // Close the message box shortly after the click to prevent accidental clicks
    QTimer::singleShot(5000, &msgBox, SLOT(reject()));


    if (ret == 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, 1, 0, 0, 0, 0, 0, 0);
        // Send message twice to increase chance that it reaches its goal
        sendMessage(msg);
    }
}

/**
* Set a local position setpoint.
* @param x postion
* @param y position
* @param z position
*/ 
void UAS::setLocalPositionSetpoint(float x, float y, float z, float yaw)
{
#ifdef MAVLINK_ENABLED_PIXHAWK
    mavlink_message_t msg;
    mavlink_msg_set_local_position_setpoint_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, MAV_FRAME_LOCAL_NED, x, y, z, yaw/M_PI*180.0);
    sendMessage(msg);
#else
    Q_UNUSED(x);
    Q_UNUSED(y);
    Q_UNUSED(z);
    Q_UNUSED(yaw);
#endif
}

/**
* Set a offset of the local position.
* @param x position
* @param y position
* @param z position
* @param yaw 
*/
void UAS::setLocalPositionOffset(float x, float y, float z, float yaw)
{
#ifdef MAVLINK_ENABLED_PIXHAWK
    mavlink_message_t msg;
    mavlink_msg_set_position_control_offset_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, x, y, z, yaw);
    sendMessage(msg);
#else
    Q_UNUSED(x);
    Q_UNUSED(y);
    Q_UNUSED(z);
    Q_UNUSED(yaw);
#endif
}

void UAS::startRadioControlCalibration()
{
    mavlink_message_t msg;
    // Param 1: gyro cal, param 2: mag cal, param 3: pressure cal, Param 4: radio
    mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_CMD_PREFLIGHT_CALIBRATION, 1, 0, 0, 0, 1, 0, 0, 0);
    sendMessage(msg);
}

void UAS::startDataRecording()
{
    mavlink_message_t msg;
    mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, MAV_CMD_DO_CONTROL_VIDEO, 1, -1, -1, -1, 2, 0, 0, 0);
    sendMessage(msg);
}

void UAS::stopDataRecording()
{
    mavlink_message_t msg;
    mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, MAV_CMD_DO_CONTROL_VIDEO, 1, -1, -1, -1, 0, 0, 0, 0);
    sendMessage(msg);
}

void UAS::startMagnetometerCalibration()
{
    mavlink_message_t msg;
    // Param 1: gyro cal, param 2: mag cal, param 3: pressure cal, Param 4: radio
    mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_CMD_PREFLIGHT_CALIBRATION, 1, 0, 1, 0, 0, 0, 0, 0);
    sendMessage(msg);
}

void UAS::startGyroscopeCalibration()
{
    mavlink_message_t msg;
    // Param 1: gyro cal, param 2: mag cal, param 3: pressure cal, Param 4: radio
    mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_CMD_PREFLIGHT_CALIBRATION, 1, 1, 0, 0, 0, 0, 0, 0);
    sendMessage(msg);
}

void UAS::startPressureCalibration()
{
    mavlink_message_t msg;
    // Param 1: gyro cal, param 2: mag cal, param 3: pressure cal, Param 4: radio
    mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_CMD_PREFLIGHT_CALIBRATION, 1, 0, 0, 1, 0, 0, 0, 0);
    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 component that will be searched for in the map of parameters.
*/
QList<QString> UAS::getParameterNames(int component)
{
    if (parameters.contains(component))
    {
        return parameters.value(component)->keys();
    }
    else
    {
        return QList<QString>();
    }
}

QList<int> UAS::getComponentIds()
{
    return parameters.keys();
}

/**
* @param mode that UAS is to be set to.
*/
void UAS::setMode(int mode)
{
    //this->mode = mode; //no call assignament, update receive message from UAS
    mavlink_message_t msg;
    mavlink_msg_set_mode_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, (uint8_t)uasId, (uint8_t)mode, (uint16_t)navMode);
    sendMessage(msg);
    qDebug() << "SENDING REQUEST TO SET MODE TO SYSTEM" << uasId << ", REQUEST TO SET MODE " << (uint8_t)mode;
}

/**
* Send a message to every link that is connected.
* @param message that is to be sent
*/
void UAS::sendMessage(mavlink_message_t message)
{
    if (!LinkManager::instance()) return;
    // Emit message on all links that are currently connected
    foreach (LinkInterface* link, *links)
    {
        if (LinkManager::instance()->getLinks().contains(link))
        {
            sendMessage(link, message);
        }
        else
        {
            // Remove from list
            links->removeAt(links->indexOf(link));
        }
    }
}

/**
* Forward a message to all links that are currently connected.
* @param message that is to be forwarded
*/
void UAS::forwardMessage(mavlink_message_t message)
{
    // Emit message on all links that are currently connected
    QList<LinkInterface*>link_list = LinkManager::instance()->getLinksForProtocol(mavlink);

    foreach(LinkInterface* link, link_list)
    {
        if (link)
        {
            SerialLink* serial = dynamic_cast<SerialLink*>(link);
            if(serial != 0)
            {
                for(int i=0; i<links->size(); i++)
                {
                    if(serial != links->at(i))
                    {
                        qDebug()<<"Antenna tracking: Forwarding Over link: "<<serial->getName()<<" "<<serial;
                        sendMessage(serial, message);
                    }
                }
            }
        }
    }
}

/**
* Send a message to the link that is connected.
* @param link that the message will be sent to
* @message that is to be sent
*/
void UAS::sendMessage(LinkInterface* link, mavlink_message_t message)
{
    if(!link) return;
    // 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);
    static uint8_t messageKeys[256] = MAVLINK_MESSAGE_CRCS;
    mavlink_finalize_message_chan(&message, mavlink->getSystemId(), mavlink->getComponentId(), link->getId(), message.len, messageKeys[message.msgid]);
    // 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;
}

/**
* The mode can be preflight or unknown.
* @Return the mode of the autopilot
*/
QString UAS::getNavModeText(int mode)
{
    if (autopilot == MAV_AUTOPILOT_PIXHAWK)
    {
        switch (mode)
        {
        case 0:
            return QString("PREFLIGHT");
            break;
        default:
            return QString("UNKNOWN");
        }
    }
    else if (autopilot == MAV_AUTOPILOT_ARDUPILOTMEGA)
    {
        return QString("UNKNOWN");
    }
    else if (autopilot == MAV_AUTOPILOT_OPENPILOT)
    {
        return QString("UNKNOWN");
    }
    // If nothing matches, return unknown
    return QString("UNKNOWN");
}

/** 
* 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()
{
#ifdef MAVLINK_ENABLED_PIXHAWK

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

    // RAW greyscale
    if (imageType == MAVLINK_DATA_STREAM_IMG_RAW8U)
    {
        // TODO FIXME
        int imgColors = 255;//imageSize/(imageWidth*imageHeight);
        //const int headerSize = 15;

        // 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.toStdString().size());
        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()<< "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() << "Loading data from image buffer failed!";
        }
    }
    // Restart statemachine
    imagePacketsArrived = 0;
    //imageRecBuffer.clear();
    return image;
#else
    return QImage();
#endif

}

void UAS::requestImage()
{
#ifdef MAVLINK_ENABLED_PIXHAWK
    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, DATA_TYPE_JPEG_IMAGE, 0, 0, 0, 0, 0, 50);
        sendMessage(msg);
    }
#endif
}


/* MANAGEMENT */

/**
 *
 * @return The uptime in milliseconds
 *
 */
quint64 UAS::getUptime() const
{
    if(startTime == 0)
    {
        return 0;
    }
    else
    {
        return QGC::groundTimeMilliseconds() - 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(), MAV_COMP_ID_ALL);
    sendMessage(msg);
    qDebug() << __FILE__ << __LINE__ << "LOADING PARAM LIST";
}

void UAS::writeParametersToStorage()
{
    mavlink_message_t msg;
    mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, MAV_CMD_PREFLIGHT_STORAGE, 1, 1, -1, -1, -1, 0, 0, 0);
    qDebug() << "SENT COMMAND" << MAV_CMD_PREFLIGHT_STORAGE;
    sendMessage(msg);
}

void UAS::readParametersFromStorage()
{
    mavlink_message_t msg;
    mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, MAV_CMD_PREFLIGHT_STORAGE, 1, 0, -1, -1, -1, 0, 0, 0);
    sendMessage(msg);
}

/** 
* @param rate The update rate in Hz the message should be sent
*/
void UAS::enableAllDataTransmission(int rate)
{
    // 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 = MAV_DATA_STREAM_ALL;
    // Select the update rate in Hz the message should be send
    // All messages will be send with their default rate
    // TODO: use 0 to turn off and get rid of enable/disable? will require
    //  a different magic flag for turning on defaults, possibly something really high like 1111 ?
    stream.req_message_rate = 0;
    // Start / stop the message
    stream.start_stop = (rate) ? 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);
}

/**