Vehicle.h

    void _clearCameraTriggerPoints(void);
    void _updateDistanceToHome(void);
    void _updateHobbsMeter(void);
    void _vehicleParamLoaded(bool ready);
    void _sendQGCTimeToVehicle(void);

private:
    bool _containsLink(LinkInterface* link);
    void _addLink(LinkInterface* link);
    void _loadSettings(void);
    void _saveSettings(void);
    void _startJoystick(bool start);
    void _handlePing(LinkInterface* link, mavlink_message_t& message);
    void _handleHomePosition(mavlink_message_t& message);
    void _handleHeartbeat(mavlink_message_t& message);
    void _handleRadioStatus(mavlink_message_t& message);
    void _handleRCChannels(mavlink_message_t& message);
    void _handleRCChannelsRaw(mavlink_message_t& message);
    void _handleBatteryStatus(mavlink_message_t& message);
    void _handleSysStatus(mavlink_message_t& message);
    void _handleWindCov(mavlink_message_t& message);
    void _handleVibration(mavlink_message_t& message);
    void _handleExtendedSysState(mavlink_message_t& message);
    void _handleCommandAck(mavlink_message_t& message);
    void _handleCommandLong(mavlink_message_t& message);
    void _handleAutopilotVersion(LinkInterface* link, mavlink_message_t& message);
    void _handleProtocolVersion(LinkInterface* link, mavlink_message_t& message);
    void _handleHilActuatorControls(mavlink_message_t& message);
    void _handleGpsRawInt(mavlink_message_t& message);
    void _handleGlobalPositionInt(mavlink_message_t& message);
    void _handleAltitude(mavlink_message_t& message);
    void _handleVfrHud(mavlink_message_t& message);
    void _handleScaledPressure(mavlink_message_t& message);
    void _handleScaledPressure2(mavlink_message_t& message);
    void _handleScaledPressure3(mavlink_message_t& message);
    void _handleHighLatency2(mavlink_message_t& message);
    void _handleAttitude(mavlink_message_t& message);
    void _handleAttitudeTarget(mavlink_message_t& message);
    void _handleDistanceSensor(mavlink_message_t& message);
    // ArduPilot dialect messages
#if !defined(NO_ARDUPILOT_DIALECT)
    void _handleCameraFeedback(const mavlink_message_t& message);
    void _handleWind(mavlink_message_t& message);
#endif
    void _handleCameraImageCaptured(const mavlink_message_t& message);
    void _handleADSBVehicle(const mavlink_message_t& message);
    void _missionManagerError(int errorCode, const QString& errorMsg);
    void _geoFenceManagerError(int errorCode, const QString& errorMsg);
    void _rallyPointManagerError(int errorCode, const QString& errorMsg);
    void _mapTrajectoryStart(void);
    void _mapTrajectoryStop(void);
    void _connectionActive(void);
    void _say(const QString& text);
    QString _vehicleIdSpeech(void);
    void _handleMavlinkLoggingData(mavlink_message_t& message);
    void _handleMavlinkLoggingDataAcked(mavlink_message_t& message);
    void _ackMavlinkLogData(uint16_t sequence);
    void _sendNextQueuedMavCommand(void);
    void _updatePriorityLink(void);
    void _commonInit(void);
    void _startPlanRequest(void);
    void _setupAutoDisarmSignalling(void);
    void _setCapabilities(uint64_t capabilityBits);
    void _updateArmed(bool armed);
    bool _apmArmingNotRequired(void);

    int     _id;                    ///< Mavlink system id
    int     _defaultComponentId;
    bool    _active;
    bool    _offlineEditingVehicle; ///< This Vehicle is a "disconnected" vehicle for ui use while offline editing

    MAV_AUTOPILOT       _firmwareType;
    MAV_TYPE            _vehicleType;
    FirmwarePlugin*     _firmwarePlugin;
    QObject*            _firmwarePluginInstanceData;
    AutoPilotPlugin*    _autopilotPlugin;
    MAVLinkProtocol*    _mavlink;
    bool                _soloFirmware;
    QGCToolbox*         _toolbox;
    SettingsManager*    _settingsManager;

    QList<LinkInterface*> _links;

    JoystickMode_t  _joystickMode;
    bool            _joystickEnabled;

    UAS* _uas;

    QGeoCoordinate  _coordinate;
    QGeoCoordinate  _homePosition;

    UASInterface*   _mav;
    int             _currentMessageCount;
    int             _messageCount;
    int             _currentErrorCount;
    int             _currentWarningCount;
    int             _currentNormalCount;
    MessageType_t   _currentMessageType;
    QString         _latestError;
    int             _updateCount;
    QString         _formatedMessage;
    int             _rcRSSI;
    double          _rcRSSIstore;
    bool            _autoDisconnect;    ///< true: Automatically disconnect vehicle when last connection goes away or lost heartbeat
    bool            _flying;
    bool            _landing;
    bool            _vtolInFwdFlight;
    uint32_t        _onboardControlSensorsPresent;
    uint32_t        _onboardControlSensorsEnabled;
    uint32_t        _onboardControlSensorsHealth;
    uint32_t        _onboardControlSensorsUnhealthy;
    bool            _gpsRawIntMessageAvailable;
    bool            _globalPositionIntMessageAvailable;
    double          _defaultCruiseSpeed;
    double          _defaultHoverSpeed;
    int             _telemetryRRSSI;
    int             _telemetryLRSSI;
    uint32_t        _telemetryRXErrors;
    uint32_t        _telemetryFixed;
    uint32_t        _telemetryTXBuffer;
    int             _telemetryLNoise;
    int             _telemetryRNoise;
    unsigned        _maxProtoVersion;
    bool            _vehicleCapabilitiesKnown;
    uint64_t        _capabilityBits;
    bool            _highLatencyLink;

    QGCCameraManager* _cameras;

    typedef struct {
        int     component;
        MAV_CMD command;
        float   rgParam[7];
        bool    showError;
    } MavCommandQueueEntry_t;

    QList<MavCommandQueueEntry_t>   _mavCommandQueue;
    QTimer                          _mavCommandAckTimer;
    int                             _mavCommandRetryCount;
    static const int                _mavCommandMaxRetryCount = 3;
    static const int                _mavCommandAckTimeoutMSecs = 3000;
    static const int                _mavCommandAckTimeoutMSecsHighLatency = 120000;

    QString             _prearmError;
    QTimer              _prearmErrorTimer;
    static const int    _prearmErrorTimeoutMSecs = 35 * 1000;   ///< Take away prearm error after 35 seconds

    // Lost connection handling
    bool                _connectionLost;
    bool                _connectionLostEnabled;
    static const int    _connectionLostTimeoutMSecs = 3500;  // Signal connection lost after 3.5 seconds of missed heartbeat
    QTimer              _connectionLostTimer;

    bool                _initialPlanRequestComplete;

    MissionManager*     _missionManager;
    bool                _missionManagerInitialRequestSent;

    GeoFenceManager*    _geoFenceManager;
    bool                _geoFenceManagerInitialRequestSent;

    RallyPointManager*  _rallyPointManager;
    bool                _rallyPointManagerInitialRequestSent;

    ParameterManager*    _parameterManager;

    bool    _armed;         ///< true: vehicle is armed
    uint8_t _base_mode;     ///< base_mode from HEARTBEAT
    uint32_t _custom_mode;  ///< custom_mode from HEARTBEAT

    /// Used to store a message being sent by sendMessageMultiple
    typedef struct {
        mavlink_message_t   message;    ///< Message to send multiple times
        int                 retryCount; ///< Number of retries left
    } SendMessageMultipleInfo_t;

    QList<SendMessageMultipleInfo_t> _sendMessageMultipleList;    ///< List of messages being sent multiple times

    static const int _sendMessageMultipleRetries = 5;
    static const int _sendMessageMultipleIntraMessageDelay = 500;

    QTimer  _sendMultipleTimer;
    int     _nextSendMessageMultipleIndex;

    QTime               _flightTimer;
    QTimer              _mapTrajectoryTimer;
    QmlObjectListModel  _mapTrajectoryList;
    QGeoCoordinate      _mapTrajectoryLastCoordinate;
    bool                _mapTrajectoryHaveFirstCoordinate;
    static const int    _mapTrajectoryMsecsBetweenPoints = 1000;

    QmlObjectListModel  _cameraTriggerPoints;

    QmlObjectListModel              _adsbVehicles;
    QMap<uint32_t, ADSBVehicle*>    _adsbICAOMap;

    // Toolbox references
    FirmwarePluginManager*      _firmwarePluginManager;
    JoystickManager*            _joystickManager;

    int                         _flowImageIndex;

    bool _allLinksInactiveSent; ///< true: allLinkInactive signal already sent one time

    uint                _messagesReceived;
    uint                _messagesSent;
    uint                _messagesLost;
    uint8_t             _messageSeq;
    uint8_t             _compID;
    bool                _heardFrom;

    int _firmwareMajorVersion;
    int _firmwareMinorVersion;
    int _firmwarePatchVersion;
    int _firmwareCustomMajorVersion;
    int _firmwareCustomMinorVersion;
    int _firmwareCustomPatchVersion;
    FIRMWARE_VERSION_TYPE _firmwareVersionType;

    QString _gitHash;
    quint64 _uid;

    int _lastAnnouncedLowBatteryPercent;

    SharedLinkInterfacePointer _priorityLink;  // We always keep a reference to the priority link to manage shutdown ordering

    // FactGroup facts

    Fact _rollFact;
    Fact _pitchFact;
    Fact _headingFact;
    Fact _rollRateFact;
    Fact _pitchRateFact;
    Fact _yawRateFact;
    Fact _groundSpeedFact;
    Fact _airSpeedFact;
    Fact _climbRateFact;
    Fact _altitudeRelativeFact;
    Fact _altitudeAMSLFact;
    Fact _flightDistanceFact;
    Fact _flightTimeFact;
    Fact _distanceToHomeFact;
    Fact _hobbsFact;

    VehicleGPSFactGroup             _gpsFactGroup;
    VehicleBatteryFactGroup         _batteryFactGroup;
    VehicleWindFactGroup            _windFactGroup;
    VehicleVibrationFactGroup       _vibrationFactGroup;
    VehicleTemperatureFactGroup     _temperatureFactGroup;
    VehicleClockFactGroup           _clockFactGroup;
    VehicleSetpointFactGroup        _setpointFactGroup;
    VehicleDistanceSensorFactGroup  _distanceSensorFactGroup;

    static const char* _rollFactName;
    static const char* _pitchFactName;
    static const char* _headingFactName;
    static const char* _rollRateFactName;
    static const char* _pitchRateFactName;
    static const char* _yawRateFactName;
    static const char* _groundSpeedFactName;
    static const char* _airSpeedFactName;
    static const char* _climbRateFactName;
    static const char* _altitudeRelativeFactName;
    static const char* _altitudeAMSLFactName;
    static const char* _flightDistanceFactName;
    static const char* _flightTimeFactName;
    static const char* _distanceToHomeFactName;
    static const char* _hobbsFactName;

    static const char* _gpsFactGroupName;
    static const char* _batteryFactGroupName;
    static const char* _windFactGroupName;
    static const char* _vibrationFactGroupName;
    static const char* _temperatureFactGroupName;
    static const char* _clockFactGroupName;
    static const char* _distanceSensorFactGroupName;

    static const int _vehicleUIUpdateRateMSecs = 100;

    // Settings keys
    static const char* _settingsGroup;
    static const char* _joystickModeSettingsKey;
    static const char* _joystickEnabledSettingsKey;

};