Vehicle.cc

    float direction = qRadiansToDegrees(qAtan2(wind.wind_y, wind.wind_x));
    float speed = qSqrt(qPow(wind.wind_x, 2) + qPow(wind.wind_y, 2));

    _windFactGroup.direction()->setRawValue(direction);
    _windFactGroup.speed()->setRawValue(speed);
    _windFactGroup.verticalSpeed()->setRawValue(0);
}

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 {
        // Current is in Amps, current_battery is 10 * milliamperes (1 = 10 milliampere)
        _batteryFactGroup.current()->setRawValue((float)sysStatus.current_battery / 100.0f);
    }
    if (sysStatus.voltage_battery == UINT16_MAX) {
        _batteryFactGroup.voltage()->setRawValue(VehicleBatteryFactGroup::_voltageUnavailable);
    } else {
        _batteryFactGroup.voltage()->setRawValue((double)sysStatus.voltage_battery / 1000.0);
        // current_battery is 10 mA and voltage_battery is 1mV. (10/1e3 times 1/1e3 = 1/1e5)
        _batteryFactGroup.instantPower()->setRawValue((float)(sysStatus.current_battery*sysStatus.voltage_battery)/(100000.0));
    }
    _batteryFactGroup.percentRemaining()->setRawValue(sysStatus.battery_remaining);

    if (sysStatus.battery_remaining > 0) {
        if (sysStatus.battery_remaining < _settingsManager->appSettings()->batteryPercentRemainingAnnounce()->rawValue().toInt() &&
                sysStatus.battery_remaining < _lastAnnouncedLowBatteryPercent) {
            _say(QString("%1 low battery: %2 percent remaining").arg(_vehicleIdSpeech()).arg(sysStatus.battery_remaining));
        }
        _lastAnnouncedLowBatteryPercent = sysStatus.battery_remaining;
    }

    _onboardControlSensorsPresent = sysStatus.onboard_control_sensors_present;
    _onboardControlSensorsEnabled = sysStatus.onboard_control_sensors_enabled;
    _onboardControlSensorsHealth = sysStatus.onboard_control_sensors_health;

    uint32_t newSensorsUnhealthy = _onboardControlSensorsEnabled & ~_onboardControlSensorsHealth;
    if (newSensorsUnhealthy != _onboardControlSensorsUnhealthy) {
        _onboardControlSensorsUnhealthy = newSensorsUnhealthy;
        emit unhealthySensorsChanged();
    }
}

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::_setHomePosition(QGeoCoordinate& homeCoord)
{
    if (homeCoord != _homePosition) {
        _homePosition = homeCoord;
        emit homePositionChanged(_homePosition);
    }
}

void Vehicle::_handleHomePosition(mavlink_message_t& message)
{
    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);
    _setHomePosition(newHomePosition);
}

void Vehicle::_handleHeartbeat(mavlink_message_t& message)
{
    if (message.compid != _defaultComponentId) {
        return;
    }

    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();
            _clearCameraTriggerPoints();
        } else {
            _mapTrajectoryStop();
            // Also handle Video Streaming
            if(_settingsManager->videoSettings()->disableWhenDisarmed()->rawValue().toBool()) {
                _settingsManager->videoSettings()->streamEnabled()->setRawValue(false);
                qgcApp()->toolbox()->videoManager()->videoReceiver()->stop();
            }
        }
    }

    if (heartbeat.base_mode != _base_mode || heartbeat.custom_mode != _custom_mode) {
        QString previousFlightMode;
        if (_base_mode != 0 || _custom_mode != 0){
            // Vehicle is initialized with _base_mode=0 and _custom_mode=0. Don't pass this to flightMode() since it will complain about
            // bad modes while unit testing.
            previousFlightMode = flightMode();
        }
        _base_mode = heartbeat.base_mode;
        _custom_mode = heartbeat.custom_mode;
        if (previousFlightMode != flightMode()) {
            emit flightModeChanged(flightMode());
        }
    }
}

void Vehicle::_handleRadioStatus(mavlink_message_t& message)
{

    //-- Process telemetry status message
    mavlink_radio_status_t rstatus;
    mavlink_msg_radio_status_decode(&message, &rstatus);

    int rssi    = rstatus.rssi;
    int remrssi = rstatus.remrssi;
    int lnoise = (int)(int8_t)rstatus.noise;
    int rnoise = (int)(int8_t)rstatus.remnoise;
    //-- 3DR Si1k radio needs rssi fields to be converted to dBm
    if (message.sysid == '3' && message.compid == 'D') {
        /* Per the Si1K datasheet figure 23.25 and SI AN474 code
         * samples the relationship between the RSSI register
         * and received power is as follows:
         *
         *                       10
         * inputPower = rssi * ------ 127
         *                       19
         *
         * Additionally limit to the only realistic range [-120,0] dBm
         */
        rssi    = qMin(qMax(qRound(static_cast<qreal>(rssi)    / 1.9 - 127.0), - 120), 0);
        remrssi = qMin(qMax(qRound(static_cast<qreal>(remrssi) / 1.9 - 127.0), - 120), 0);
    } else {
        rssi    = (int)(int8_t)rstatus.rssi;
        remrssi = (int)(int8_t)rstatus.remrssi;
    }
    //-- Check for changes
    if(_telemetryLRSSI != rssi) {
        _telemetryLRSSI = rssi;
        emit telemetryLRSSIChanged(_telemetryLRSSI);
    }
    if(_telemetryRRSSI != remrssi) {
        _telemetryRRSSI = remrssi;
        emit telemetryRRSSIChanged(_telemetryRRSSI);
    }
    if(_telemetryRXErrors != rstatus.rxerrors) {
        _telemetryRXErrors = rstatus.rxerrors;
        emit telemetryRXErrorsChanged(_telemetryRXErrors);
    }
    if(_telemetryFixed != rstatus.fixed) {
        _telemetryFixed = rstatus.fixed;
        emit telemetryFixedChanged(_telemetryFixed);
    }
    if(_telemetryTXBuffer != rstatus.txbuf) {
        _telemetryTXBuffer = rstatus.txbuf;
        emit telemetryTXBufferChanged(_telemetryTXBuffer);
    }
    if(_telemetryLNoise != lnoise) {
        _telemetryLNoise = lnoise;
        emit telemetryLNoiseChanged(_telemetryLNoise);
    }
    if(_telemetryRNoise != rnoise) {
        _telemetryRNoise = rnoise;
        emit telemetryRNoiseChanged(_telemetryRNoise);
    }
}

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);
}

void Vehicle::_handleScaledPressure(mavlink_message_t& message) {
    mavlink_scaled_pressure_t pressure;
    mavlink_msg_scaled_pressure_decode(&message, &pressure);
    _temperatureFactGroup.temperature1()->setRawValue(pressure.temperature / 100.0);
}

void Vehicle::_handleScaledPressure2(mavlink_message_t& message) {
    mavlink_scaled_pressure2_t pressure;
    mavlink_msg_scaled_pressure2_decode(&message, &pressure);
    _temperatureFactGroup.temperature2()->setRawValue(pressure.temperature / 100.0);
}

void Vehicle::_handleScaledPressure3(mavlink_message_t& message) {
    mavlink_scaled_pressure3_t pressure;
    mavlink_msg_scaled_pressure3_decode(&message, &pressure);
    _temperatureFactGroup.temperature3()->setRawValue(pressure.temperature / 100.0);
}

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

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

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

    _links.removeOne(link);
    _updatePriorityLink();

    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);
    }
}

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;
    }

#if 0
    // Leaving in for ease in Mav 2.0 testing
    mavlink_status_t* mavlinkStatus = mavlink_get_channel_status(link->mavlinkChannel());
    qDebug() << "_sendMessageOnLink" << mavlinkStatus << link->mavlinkChannel() << mavlinkStatus->flags << message.magic;
#endif

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

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

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

void Vehicle::_updatePriorityLink(void)
{
    LinkInterface* newPriorityLink = NULL;

#ifndef NO_SERIAL_LINK
    // Note that this routine specificallty does not clear _priorityLink when there are no links remaining.
    // By doing this we hold a reference on the last link as the Vehicle shuts down. Thus preventing shutdown
    // ordering NULL pointer crashes where priorityLink() is still called during shutdown sequence.
    for (int i=0; i<_links.count(); i++) {
        LinkInterface* link = _links[i];
        if (link->isConnected()) {
            SerialLink* pSerialLink = qobject_cast<SerialLink*>(link);
            if (pSerialLink) {
                LinkConfiguration* config = pSerialLink->getLinkConfiguration();
                if (config) {
                    SerialConfiguration* pSerialConfig = qobject_cast<SerialConfiguration*>(config);
                    if (pSerialConfig && pSerialConfig->usbDirect()) {
                        if (_priorityLink.data() != link) {
                            newPriorityLink = link;
                            break;
                        }
                        return;
                    }
                }
            }
        }
    }
#endif

    if (!newPriorityLink && !_priorityLink.data() && _links.count()) {
        newPriorityLink = _links[0];
    }

    if (newPriorityLink) {
        _priorityLink = _toolbox->linkManager()->sharedLinkInterfacePointerForLink(newPriorityLink);
    }
}

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 < 0.0) yaw += 360.0;
        // truncate to integer so widget never displays 360
        _headingFact.setRawValue(trunc(yaw));
    }
}

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

int Vehicle::motorCount(void)
{
    switch (_vehicleType) {
    case MAV_TYPE_HELICOPTER:
        return 1;
    case MAV_TYPE_VTOL_DUOROTOR:
        return 2;
    case MAV_TYPE_TRICOPTER:
        return 3;
    case MAV_TYPE_QUADROTOR:
    case MAV_TYPE_VTOL_QUADROTOR:
        return 4;
    case MAV_TYPE_HEXAROTOR:
        return 6;
    case MAV_TYPE_OCTOROTOR:
        return 8;
    default:
        return -1;
    }
}

bool Vehicle::coaxialMotors(void)
{
    return _firmwarePlugin->multiRotorCoaxialMotors(this);
}

bool Vehicle::xConfigMotors(void)
{
    return _firmwarePlugin->multiRotorXConfig(this);
}

/*
 * Internal
 */

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, _toolbox->uasMessageHandler()->messages()) {
        messages += message->getFormatedText();
    }
    return messages;
}

void Vehicle::clearMessages()
{
    _toolbox->uasMessageHandler()->clearMessages();
}

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

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 = _toolbox->uasMessageHandler();
    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;
    }

    // Joystick enabled is a global setting so first make sure there are any joysticks connected
    if (_toolbox->joystickManager()->joysticks().count()) {
        setJoystickEnabled(settings.value(_joystickEnabledSettingsKey, false).toBool());
    }
}

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

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

    settings.setValue(_joystickModeSettingsKey, _joystickMode);

    // The joystick enabled setting should only be changed if a joystick is present
    // since the checkbox can only be clicked if one is present
    if (_toolbox->joystickManager()->joysticks().count()) {
        settings.setValue(_joystickEnabledSettingsKey, _joystickEnabled);
    }
}

int Vehicle::joystickMode(void)
{
    return _joystickMode;
}

void Vehicle::setJoystickMode(int mode)
{
    if (mode < 0 || mode >= JoystickModeMax) {
        qCWarning(VehicleLog) << "Invalid joystick mode" << mode;
        return;
    }

    _joystickMode = (JoystickMode_t)mode;
    _saveSettings();
    emit joystickModeChanged(mode);
}

QStringList Vehicle::joystickModes(void)
{
    QStringList list;

    list << "Normal" << "Attitude" << "Position" << "Force" << "Velocity";

    return list;
}

void Vehicle::_activeJoystickChanged(void)
{
    _loadSettings();
    _startJoystick(true);
}

bool Vehicle::joystickEnabled(void)
{
    return _joystickEnabled;
}

void Vehicle::setJoystickEnabled(bool enabled)
{
    _joystickEnabled = enabled;
    _startJoystick(_joystickEnabled);
    _saveSettings();
    emit joystickEnabledChanged(_joystickEnabled);
}

void Vehicle::_startJoystick(bool start)
{
    Joystick* joystick = _joystickManager->activeJoystick();
    if (joystick) {
        if (start) {
            if (_joystickEnabled) {
                joystick->startPolling(this);
            }
        } else {
            joystick->stopPolling();
        }
    }
}

bool Vehicle::active(void)
{
    return _active;
}

void Vehicle::setActive(bool active)
{
    if (_active != active) {
        _active = active;
        emit activeChanged(_active);
    }

    _startJoystick(_active);
}

QGeoCoordinate Vehicle::homePosition(void)
{
    return _homePosition;
}

void Vehicle::setArmed(bool armed)
{
    // We specifically use COMMAND_LONG:MAV_CMD_COMPONENT_ARM_DISARM since it is supported by more flight stacks.
    sendMavCommand(_defaultComponentId,
                   MAV_CMD_COMPONENT_ARM_DISARM,
                   true,    // show error if fails
                   armed ? 1.0f : 0.0f);
}

bool Vehicle::flightModeSetAvailable(void)
{
    return _firmwarePlugin->isCapable(this, FirmwarePlugin::SetFlightModeCapability);
}

QStringList Vehicle::flightModes(void)
{
    return _firmwarePlugin->flightModes(this);
}

QString Vehicle::flightMode(void) const
{
    return _firmwarePlugin->flightMode(_base_mode, _custom_mode);
}

void Vehicle::setFlightMode(const QString& flightMode)
{
    uint8_t     base_mode;
    uint32_t    custom_mode;

    if (_firmwarePlugin->setFlightMode(flightMode, &base_mode, &custom_mode)) {
        // setFlightMode will only set MAV_MODE_FLAG_CUSTOM_MODE_ENABLED in base_mode, we need to move back in the existing
        // states.
        uint8_t newBaseMode = _base_mode & ~MAV_MODE_FLAG_DECODE_POSITION_CUSTOM_MODE;
        newBaseMode |= base_mode;

        mavlink_message_t msg;
        mavlink_msg_set_mode_pack_chan(_mavlink->getSystemId(),
                                       _mavlink->getComponentId(),
                                       priorityLink()->mavlinkChannel(),
                                       &msg,
                                       id(),
                                       newBaseMode,
                                       custom_mode);
        sendMessageOnLink(priorityLink(), msg);
    } else {
        qWarning() << "FirmwarePlugin::setFlightMode failed, flightMode:" << flightMode;
    }
}

bool Vehicle::hilMode(void)
{
    return _base_mode & MAV_MODE_FLAG_HIL_ENABLED;
}

void Vehicle::setHilMode(bool hilMode)
{
    mavlink_message_t msg;

    uint8_t newBaseMode = _base_mode & ~MAV_MODE_FLAG_DECODE_POSITION_HIL;
    if (hilMode) {
        newBaseMode |= MAV_MODE_FLAG_HIL_ENABLED;
    }

    mavlink_msg_set_mode_pack_chan(_mavlink->getSystemId(),
                                   _mavlink->getComponentId(),
                                   priorityLink()->mavlinkChannel(),
                                   &msg,
                                   id(),
                                   newBaseMode,
                                   _custom_mode);
    sendMessageOnLink(priorityLink(), msg);
}

void Vehicle::requestDataStream(MAV_DATA_STREAM stream, uint16_t rate, bool sendMultiple)
{
    mavlink_message_t               msg;
    mavlink_request_data_stream_t   dataStream;

    memset(&dataStream, 0, sizeof(dataStream));

    dataStream.req_stream_id = stream;
    dataStream.req_message_rate = rate;
    dataStream.start_stop = 1;  // start
    dataStream.target_system = id();
    dataStream.target_component = _defaultComponentId;

    mavlink_msg_request_data_stream_encode_chan(_mavlink->getSystemId(),
                                                _mavlink->getComponentId(),
                                                priorityLink()->mavlinkChannel(),
                                                &msg,
                                                &dataStream);

    if (sendMultiple) {
        // We use sendMessageMultiple since we really want these to make it to the vehicle
        sendMessageMultiple(msg);
    } else {
        sendMessageOnLink(priorityLink(), msg);
    }
}

void Vehicle::_sendMessageMultipleNext(void)
{
    if (_nextSendMessageMultipleIndex < _sendMessageMultipleList.count()) {
        qCDebug(VehicleLog) << "_sendMessageMultipleNext:" << _sendMessageMultipleList[_nextSendMessageMultipleIndex].message.msgid;

        sendMessageOnLink(priorityLink(), _sendMessageMultipleList[_nextSendMessageMultipleIndex].message);

        if (--_sendMessageMultipleList[_nextSendMessageMultipleIndex].retryCount <= 0) {
            _sendMessageMultipleList.removeAt(_nextSendMessageMultipleIndex);
        } else {
            _nextSendMessageMultipleIndex++;
        }
    }

    if (_nextSendMessageMultipleIndex >= _sendMessageMultipleList.count()) {
        _nextSendMessageMultipleIndex = 0;
    }
}

void Vehicle::sendMessageMultiple(mavlink_message_t message)
{
    SendMessageMultipleInfo_t   info;

    info.message =      message;
    info.retryCount =   _sendMessageMultipleRetries;

    _sendMessageMultipleList.append(info);
}

void Vehicle::_missionManagerError(int errorCode, const QString& errorMsg)
{
    Q_UNUSED(errorCode);
    qgcApp()->showMessage(tr("Mission transfer failed. Retry transfer. Error: %1").arg(errorMsg));
}

void Vehicle::_geoFenceManagerError(int errorCode, const QString& errorMsg)
{
    Q_UNUSED(errorCode);
    qgcApp()->showMessage(tr("GeoFence transfer failed. Retry transfer. Error: %1").arg(errorMsg));
}

void Vehicle::_rallyPointManagerError(int errorCode, const QString& errorMsg)
{
    Q_UNUSED(errorCode);
    qgcApp()->showMessage(tr("Rally Point transfer failed. Retry transfer. Error: %1").arg(errorMsg));
}

void Vehicle::_addNewMapTrajectoryPoint(void)
{
    if (_mapTrajectoryHaveFirstCoordinate) {
        // Keep three minutes of trajectory on mobile due to perf impact of lines
#ifdef __mobile__
        if (_mapTrajectoryList.count() * _mapTrajectoryMsecsBetweenPoints > 3 * 1000 * 60) {
            _mapTrajectoryList.removeAt(0)->deleteLater();
        }
#endif
        _mapTrajectoryList.append(new CoordinateVector(_mapTrajectoryLastCoordinate, _coordinate, this));
        _flightDistanceFact.setRawValue(_flightDistanceFact.rawValue().toDouble() + _mapTrajectoryLastCoordinate.distanceTo(_coordinate));
    }
    _mapTrajectoryHaveFirstCoordinate = true;
    _mapTrajectoryLastCoordinate = _coordinate;
    _flightTimeFact.setRawValue((double)_flightTimer.elapsed() / 1000.0);
}

void Vehicle::_clearTrajectoryPoints(void)
{
    _mapTrajectoryList.clearAndDeleteContents();
}

void Vehicle::_clearCameraTriggerPoints(void)
{
    _cameraTriggerPoints.clearAndDeleteContents();
}

void Vehicle::_mapTrajectoryStart(void)
{
    _mapTrajectoryHaveFirstCoordinate = false;
    _clearTrajectoryPoints();
    _mapTrajectoryTimer.start();
    _flightTimer.start();
    _flightDistanceFact.setRawValue(0);
    _flightTimeFact.setRawValue(0);
}

void Vehicle::_mapTrajectoryStop()
{
    _mapTrajectoryTimer.stop();
}

void Vehicle::_startPlanRequest(void)
{
    if (_missionManagerInitialRequestSent) {
        return;
    }

    if (_parameterManager->parametersReady() && _vehicleCapabilitiesKnown) {
        qCDebug(VehicleLog) << "_startPlanRequest";
        _missionManagerInitialRequestSent = true;
        if (_settingsManager->appSettings()->autoLoadMissions()->rawValue().toBool()) {
            QString missionAutoLoadDirPath = _settingsManager->appSettings()->missionSavePath();
            if (!missionAutoLoadDirPath.isEmpty()) {
                QDir missionAutoLoadDir(missionAutoLoadDirPath);
                QString autoloadFilename = missionAutoLoadDir.absoluteFilePath(tr("AutoLoad%1.%2").arg(_id).arg(AppSettings::planFileExtension));
                if (QFile(autoloadFilename).exists()) {
                    _initialPlanRequestComplete = true; // We aren't going to load from the vehicle, so we are done
                    PlanMasterController::sendPlanToVehicle(this, autoloadFilename);
                    return;
                }
            }
        }
        _missionManager->loadFromVehicle();
    } else {
        if (!_parameterManager->parametersReady()) {
            qCDebug(VehicleLog) << "Delaying _startPlanRequest due to parameters not ready";
        } else if (!_vehicleCapabilitiesKnown) {
            qCDebug(VehicleLog) << "Delaying _startPlanRequest due to vehicle capabilities not known";
        }
    }
}

void Vehicle::_missionLoadComplete(void)
{
    // After the initial mission request completes we ask for the geofence
    if (!_geoFenceManagerInitialRequestSent) {
        _geoFenceManagerInitialRequestSent = true;
        if (_geoFenceManager->supported()) {
            qCDebug(VehicleLog) << "_missionLoadComplete requesting GeoFence";
            _geoFenceManager->loadFromVehicle();
        } else {
            qCDebug(VehicleLog) << "_missionLoadComplete GeoFence not supported skipping";
            _geoFenceLoadComplete();
        }
    }
}

void Vehicle::_geoFenceLoadComplete(void)
{
    // After geofence request completes we ask for the rally points
    if (!_rallyPointManagerInitialRequestSent) {
        _rallyPointManagerInitialRequestSent = true;
        if (_rallyPointManager->supported()) {
            qCDebug(VehicleLog) << "_missionLoadComplete requesting Rally Points";
            _rallyPointManager->loadFromVehicle();
        } else {
            qCDebug(VehicleLog) << "_missionLoadComplete Rally Points not supported skipping";
            _rallyPointLoadComplete();
        }
    }
}

void Vehicle::_rallyPointLoadComplete(void)
{
    qCDebug(VehicleLog) << "_missionLoadComplete _initialPlanRequestComplete = true";
    if (!_initialPlanRequestComplete) {
        _initialPlanRequestComplete = true;
        emit initialPlanRequestCompleteChanged(true);
    }
}

void Vehicle::_parametersReady(bool parametersReady)
{
    if (parametersReady) {
        _setupAutoDisarmSignalling();
        _startPlanRequest();
        setJoystickEnabled(_joystickEnabled);
    }
}

void Vehicle::disconnectInactiveVehicle(void)
{
    // Vehicle is no longer communicating with us, disconnect all links


    LinkManager* linkMgr = _toolbox->linkManager();
    for (int i=0; i<_links.count(); i++) {
        // FIXME: This linkInUse check is a hack fix for multiple vehicles on the same link.
        // The real fix requires significant restructuring which will come later.
        if (!_toolbox->multiVehicleManager()->linkInUse(_links[i], this)) {
            linkMgr->disconnectLink(_links[i]);
        }
    }
}