Vehicle.cc

/****************************************************************************
 *
 *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 *
 * QGroundControl is licensed according to the terms in the file
 * COPYING.md in the root of the source code directory.
 *
 ****************************************************************************/


#include "Vehicle.h"
#include "MAVLinkProtocol.h"
#include "FirmwarePluginManager.h"
#include "LinkManager.h"
#include "FirmwarePlugin.h"
#include "UAS.h"
#include "JoystickManager.h"
#include "MissionManager.h"
#include "MissionController.h"
#include "PlanMasterController.h"
#include "GeoFenceManager.h"
#include "RallyPointManager.h"
#include "CoordinateVector.h"
#include "ParameterManager.h"
#include "QGCApplication.h"
#include "QGCImageProvider.h"
#include "GAudioOutput.h"
#include "FollowMe.h"
#include "MissionCommandTree.h"
#include "QGroundControlQmlGlobal.h"
#include "SettingsManager.h"
#include "QGCQGeoCoordinate.h"
#include "QGCCorePlugin.h"
#include "ADSBVehicle.h"

QGC_LOGGING_CATEGORY(VehicleLog, "VehicleLog")

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

extern const char* guided_mode_not_supported_by_vehicle;

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

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

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

Vehicle::Vehicle(LinkInterface*             link,
                 int                        vehicleId,
                 int                        defaultComponentId,
                 MAV_AUTOPILOT              firmwareType,
                 MAV_TYPE                   vehicleType,
                 FirmwarePluginManager*     firmwarePluginManager,
                 JoystickManager*           joystickManager)
    : FactGroup(_vehicleUIUpdateRateMSecs, ":/json/Vehicle/VehicleFact.json")
    , _id(vehicleId)
    , _defaultComponentId(defaultComponentId)
    , _active(false)
    , _offlineEditingVehicle(false)
    , _firmwareType(firmwareType)
    , _vehicleType(vehicleType)
    , _firmwarePlugin(NULL)
    , _firmwarePluginInstanceData(NULL)
    , _autopilotPlugin(NULL)
    , _mavlink(NULL)
    , _soloFirmware(false)
    , _toolbox(qgcApp()->toolbox())
    , _settingsManager(_toolbox->settingsManager())
    , _joystickMode(JoystickModeRC)
    , _joystickEnabled(false)
    , _uas(NULL)
    , _mav(NULL)
    , _currentMessageCount(0)
    , _messageCount(0)
    , _currentErrorCount(0)
    , _currentWarningCount(0)
    , _currentNormalCount(0)
    , _currentMessageType(MessageNone)
    , _updateCount(0)
    , _rcRSSI(255)
    , _rcRSSIstore(255)
    , _autoDisconnect(false)
    , _flying(false)
    , _landing(false)
    , _onboardControlSensorsPresent(0)
    , _onboardControlSensorsEnabled(0)
    , _onboardControlSensorsHealth(0)
    , _onboardControlSensorsUnhealthy(0)
    , _gpsRawIntMessageAvailable(false)
    , _globalPositionIntMessageAvailable(false)
    , _defaultCruiseSpeed(_settingsManager->appSettings()->offlineEditingCruiseSpeed()->rawValue().toDouble())
    , _defaultHoverSpeed(_settingsManager->appSettings()->offlineEditingHoverSpeed()->rawValue().toDouble())
    , _telemetryRRSSI(0)
    , _telemetryLRSSI(0)
    , _telemetryRXErrors(0)
    , _telemetryFixed(0)
    , _telemetryTXBuffer(0)
    , _telemetryLNoise(0)
    , _telemetryRNoise(0)
    , _maxProtoVersion(0)
    , _vehicleCapabilitiesKnown(false)
    , _capabilityBits(0)
    , _connectionLost(false)
    , _connectionLostEnabled(true)
    , _initialPlanRequestComplete(false)
    , _missionManager(NULL)
    , _missionManagerInitialRequestSent(false)
    , _geoFenceManager(NULL)
    , _geoFenceManagerInitialRequestSent(false)
    , _rallyPointManager(NULL)
    , _rallyPointManagerInitialRequestSent(false)
    , _parameterManager(NULL)
    , _armed(false)
    , _base_mode(0)
    , _custom_mode(0)
    , _nextSendMessageMultipleIndex(0)
    , _firmwarePluginManager(firmwarePluginManager)
    , _joystickManager(joystickManager)
    , _flowImageIndex(0)
    , _allLinksInactiveSent(false)
    , _messagesReceived(0)
    , _messagesSent(0)
    , _messagesLost(0)
    , _messageSeq(0)
    , _compID(0)
    , _heardFrom(false)
    , _firmwareMajorVersion(versionNotSetValue)
    , _firmwareMinorVersion(versionNotSetValue)
    , _firmwarePatchVersion(versionNotSetValue)
    , _firmwareCustomMajorVersion(versionNotSetValue)
    , _firmwareCustomMinorVersion(versionNotSetValue)
    , _firmwareCustomPatchVersion(versionNotSetValue)
    , _firmwareVersionType(FIRMWARE_VERSION_TYPE_OFFICIAL)
    , _gitHash(versionNotSetValue)
    , _lastAnnouncedLowBatteryPercent(100)
    , _rollFact             (0, _rollFactName,              FactMetaData::valueTypeDouble)
    , _pitchFact            (0, _pitchFactName,             FactMetaData::valueTypeDouble)
    , _headingFact          (0, _headingFactName,           FactMetaData::valueTypeDouble)
    , _groundSpeedFact      (0, _groundSpeedFactName,       FactMetaData::valueTypeDouble)
    , _airSpeedFact         (0, _airSpeedFactName,          FactMetaData::valueTypeDouble)
    , _climbRateFact        (0, _climbRateFactName,         FactMetaData::valueTypeDouble)
    , _altitudeRelativeFact (0, _altitudeRelativeFactName,  FactMetaData::valueTypeDouble)
    , _altitudeAMSLFact     (0, _altitudeAMSLFactName,      FactMetaData::valueTypeDouble)
    , _flightDistanceFact   (0, _flightDistanceFactName,    FactMetaData::valueTypeDouble)
    , _flightTimeFact       (0, _flightTimeFactName,        FactMetaData::valueTypeElapsedTimeInSeconds)
    , _gpsFactGroup(this)
    , _batteryFactGroup(this)
    , _windFactGroup(this)
    , _vibrationFactGroup(this)
    , _temperatureFactGroup(this)
{
    _addLink(link);

    connect(_joystickManager, &JoystickManager::activeJoystickChanged, this, &Vehicle::_activeJoystickChanged);

    _mavlink = _toolbox->mavlinkProtocol();

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

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

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

    connect(_uas, &UAS::imageReady,                     this, &Vehicle::_imageReady);
    connect(this, &Vehicle::remoteControlRSSIChanged,   this, &Vehicle::_remoteControlRSSIChanged);

    _commonInit();
    _autopilotPlugin = _firmwarePlugin->autopilotPlugin(this);

    // connect this vehicle to the follow me handle manager
    connect(this, &Vehicle::flightModeChanged,_toolbox->followMe(), &FollowMe::followMeHandleManager);

    // PreArm Error self-destruct timer
    connect(&_prearmErrorTimer, &QTimer::timeout, this, &Vehicle::_prearmErrorTimeout);
    _prearmErrorTimer.setInterval(_prearmErrorTimeoutMSecs);
    _prearmErrorTimer.setSingleShot(true);

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

    // Send MAV_CMD ack timer
    _mavCommandAckTimer.setSingleShot(true);
    _mavCommandAckTimer.setInterval(_mavCommandAckTimeoutMSecs);
    connect(&_mavCommandAckTimer, &QTimer::timeout, this, &Vehicle::_sendMavCommandAgain);

    _mav = uas();

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

    _loadSettings();

    // Ask the vehicle for protocol version info.
    sendMavCommand(MAV_COMP_ID_ALL,                         // Don't know default component id yet.
                    MAV_CMD_REQUEST_PROTOCOL_VERSION,
                   false,                                   // No error shown if fails
                    1);                                     // Request protocol version

    // Ask the vehicle for firmware version info.
    sendMavCommand(MAV_COMP_ID_ALL,                         // Don't know default component id yet.
                    MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES,
                   false,                                   // No error shown if fails
                    1);                                     // Request firmware version

    _firmwarePlugin->initializeVehicle(this);

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

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

// Disconnected Vehicle for offline editing
Vehicle::Vehicle(MAV_AUTOPILOT              firmwareType,
                 MAV_TYPE                   vehicleType,
                 FirmwarePluginManager*     firmwarePluginManager,
                 QObject*                   parent)
    : FactGroup(_vehicleUIUpdateRateMSecs, ":/json/Vehicle/VehicleFact.json", parent)
    , _id(0)
    , _defaultComponentId(MAV_COMP_ID_ALL)
    , _active(false)
    , _offlineEditingVehicle(true)
    , _firmwareType(firmwareType)
    , _vehicleType(vehicleType)
    , _firmwarePlugin(NULL)
    , _firmwarePluginInstanceData(NULL)
    , _autopilotPlugin(NULL)
    , _mavlink(NULL)
    , _soloFirmware(false)
    , _toolbox(qgcApp()->toolbox())
    , _settingsManager(_toolbox->settingsManager())
    , _joystickMode(JoystickModeRC)
    , _joystickEnabled(false)
    , _uas(NULL)
    , _mav(NULL)
    , _currentMessageCount(0)
    , _messageCount(0)
    , _currentErrorCount(0)
    , _currentWarningCount(0)
    , _currentNormalCount(0)
    , _currentMessageType(MessageNone)
    , _updateCount(0)
    , _rcRSSI(255)
    , _rcRSSIstore(255)
    , _autoDisconnect(false)
    , _flying(false)
    , _landing(false)
    , _onboardControlSensorsPresent(0)
    , _onboardControlSensorsEnabled(0)
    , _onboardControlSensorsHealth(0)
    , _onboardControlSensorsUnhealthy(0)
    , _gpsRawIntMessageAvailable(false)
    , _globalPositionIntMessageAvailable(false)
    , _defaultCruiseSpeed(_settingsManager->appSettings()->offlineEditingCruiseSpeed()->rawValue().toDouble())
    , _defaultHoverSpeed(_settingsManager->appSettings()->offlineEditingHoverSpeed()->rawValue().toDouble())
    , _vehicleCapabilitiesKnown(true)
    , _capabilityBits(_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA ? 0 : MAV_PROTOCOL_CAPABILITY_MISSION_FENCE | MAV_PROTOCOL_CAPABILITY_MISSION_RALLY)
    , _connectionLost(false)
    , _connectionLostEnabled(true)
    , _initialPlanRequestComplete(false)
    , _missionManager(NULL)
    , _missionManagerInitialRequestSent(false)
    , _geoFenceManager(NULL)
    , _geoFenceManagerInitialRequestSent(false)
    , _rallyPointManager(NULL)
    , _rallyPointManagerInitialRequestSent(false)
    , _parameterManager(NULL)
    , _armed(false)
    , _base_mode(0)
    , _custom_mode(0)
    , _nextSendMessageMultipleIndex(0)
    , _firmwarePluginManager(firmwarePluginManager)
    , _joystickManager(NULL)
    , _flowImageIndex(0)
    , _allLinksInactiveSent(false)
    , _messagesReceived(0)
    , _messagesSent(0)
    , _messagesLost(0)
    , _messageSeq(0)
    , _compID(0)
    , _heardFrom(false)
    , _firmwareMajorVersion(versionNotSetValue)
    , _firmwareMinorVersion(versionNotSetValue)
    , _firmwarePatchVersion(versionNotSetValue)
    , _firmwareCustomMajorVersion(versionNotSetValue)
    , _firmwareCustomMinorVersion(versionNotSetValue)
    , _firmwareCustomPatchVersion(versionNotSetValue)
    , _firmwareVersionType(FIRMWARE_VERSION_TYPE_OFFICIAL)
    , _gitHash(versionNotSetValue)
    , _lastAnnouncedLowBatteryPercent(100)
    , _rollFact             (0, _rollFactName,              FactMetaData::valueTypeDouble)
    , _pitchFact            (0, _pitchFactName,             FactMetaData::valueTypeDouble)
    , _headingFact          (0, _headingFactName,           FactMetaData::valueTypeDouble)
    , _groundSpeedFact      (0, _groundSpeedFactName,       FactMetaData::valueTypeDouble)
    , _airSpeedFact         (0, _airSpeedFactName,          FactMetaData::valueTypeDouble)
    , _climbRateFact        (0, _climbRateFactName,         FactMetaData::valueTypeDouble)
    , _altitudeRelativeFact (0, _altitudeRelativeFactName,  FactMetaData::valueTypeDouble)
    , _altitudeAMSLFact     (0, _altitudeAMSLFactName,      FactMetaData::valueTypeDouble)
    , _flightDistanceFact   (0, _flightDistanceFactName,    FactMetaData::valueTypeDouble)
    , _flightTimeFact       (0, _flightTimeFactName,        FactMetaData::valueTypeElapsedTimeInSeconds)
    , _gpsFactGroup(this)
    , _batteryFactGroup(this)
    , _windFactGroup(this)
    , _vibrationFactGroup(this)
{
    _commonInit();
    _firmwarePlugin->initializeVehicle(this);
}

void Vehicle::_commonInit(void)
{
    _firmwarePlugin = _firmwarePluginManager->firmwarePluginForAutopilot(_firmwareType, _vehicleType);

    _missionManager = new MissionManager(this);
    connect(_missionManager, &MissionManager::error,                    this, &Vehicle::_missionManagerError);
    connect(_missionManager, &MissionManager::newMissionItemsAvailable, this, &Vehicle::_missionLoadComplete);
    connect(_missionManager, &MissionManager::newMissionItemsAvailable, this, &Vehicle::_clearCameraTriggerPoints);
    connect(_missionManager, &MissionManager::newMissionItemsAvailable, this, &Vehicle::_clearTrajectoryPoints);
    connect(_missionManager, &MissionManager::sendComplete,             this, &Vehicle::_clearCameraTriggerPoints);
    connect(_missionManager, &MissionManager::sendComplete,             this, &Vehicle::_clearTrajectoryPoints);

    _parameterManager = new ParameterManager(this);
    connect(_parameterManager, &ParameterManager::parametersReadyChanged, this, &Vehicle::_parametersReady);

    // GeoFenceManager needs to access ParameterManager so make sure to create after
    _geoFenceManager = new GeoFenceManager(this);
    connect(_geoFenceManager, &GeoFenceManager::error,          this, &Vehicle::_geoFenceManagerError);
    connect(_geoFenceManager, &GeoFenceManager::loadComplete,   this, &Vehicle::_geoFenceLoadComplete);

    _rallyPointManager = new RallyPointManager(this);
    connect(_rallyPointManager, &RallyPointManager::error,          this, &Vehicle::_rallyPointManagerError);
    connect(_rallyPointManager, &RallyPointManager::loadComplete,   this, &Vehicle::_rallyPointLoadComplete);

    // Offline editing vehicle tracks settings changes for offline editing settings
    connect(_settingsManager->appSettings()->offlineEditingFirmwareType(),  &Fact::rawValueChanged, this, &Vehicle::_offlineFirmwareTypeSettingChanged);
    connect(_settingsManager->appSettings()->offlineEditingVehicleType(),   &Fact::rawValueChanged, this, &Vehicle::_offlineVehicleTypeSettingChanged);
    connect(_settingsManager->appSettings()->offlineEditingCruiseSpeed(),   &Fact::rawValueChanged, this, &Vehicle::_offlineCruiseSpeedSettingChanged);
    connect(_settingsManager->appSettings()->offlineEditingHoverSpeed(),    &Fact::rawValueChanged, this, &Vehicle::_offlineHoverSpeedSettingChanged);

    // Build FactGroup object model

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

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

    // Add firmware-specific fact groups, if provided
    QMap<QString, FactGroup*>* fwFactGroups = _firmwarePlugin->factGroups();
    if (fwFactGroups) {
        QMapIterator<QString, FactGroup*> i(*fwFactGroups);
        while(i.hasNext()) {
            i.next();
            _addFactGroup(i.value(), i.key());
        }
    }

    _flightDistanceFact.setRawValue(0);
    _flightTimeFact.setRawValue(0);
}

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

    delete _missionManager;
    _missionManager = NULL;

    delete _autopilotPlugin;
    _autopilotPlugin = NULL;

    delete _mav;
    _mav = NULL;

}

void Vehicle::_offlineFirmwareTypeSettingChanged(QVariant value)
{
    _firmwareType = static_cast<MAV_AUTOPILOT>(value.toInt());
    emit firmwareTypeChanged();
    if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
        _capabilityBits = 0;
    } else {
        _capabilityBits = MAV_PROTOCOL_CAPABILITY_MISSION_FENCE | MAV_PROTOCOL_CAPABILITY_MISSION_RALLY;
    }
    emit capabilityBitsChanged(_capabilityBits);
}

void Vehicle::_offlineVehicleTypeSettingChanged(QVariant value)
{
    _vehicleType = static_cast<MAV_TYPE>(value.toInt());
    emit vehicleTypeChanged();
}

void Vehicle::_offlineCruiseSpeedSettingChanged(QVariant value)
{
    _defaultCruiseSpeed = value.toDouble();
    emit defaultCruiseSpeedChanged(_defaultCruiseSpeed);
}

void Vehicle::_offlineHoverSpeedSettingChanged(QVariant value)
{
    _defaultHoverSpeed = value.toDouble();
    emit defaultHoverSpeedChanged(_defaultHoverSpeed);
}

QString Vehicle::firmwareTypeString(void) const
{
    if (px4Firmware()) {
        return QStringLiteral("PX4 Pro");
    } else if (apmFirmware()) {
        return QStringLiteral("ArduPilot");
    } else {
        return tr("MAVLink Generic");
    }
}

QString Vehicle::vehicleTypeString(void) const
{
    if (fixedWing()) {
        return tr("Fixed Wing");
    } else if (multiRotor()) {
        return tr("Multi-Rotor");
    } else if (vtol()) {
        return tr("VTOL");
    } else if (rover()) {
        return tr("Rover");
    } else if (sub()) {
        return tr("Sub");
    } else {
        return tr("Unknown");
    }
}

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

void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message)
{
    if (message.sysid != _id && message.sysid != 0) {
        // We allow RADIO_STATUS messages which come from a link the vehicle is using to pass through and be handled
        if (!(message.msgid == MAVLINK_MSG_ID_RADIO_STATUS && _containsLink(link))) {
            return;
        }
    }

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

        // if the minimum supported version of MAVLink is already 2.0
        // set our max proto version to it.
        if (_mavlink->getCurrentVersion() >= 200) {
            _maxProtoVersion = _mavlink->getCurrentVersion();
        }
    }

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


    // Mark this vehicle as active - but only if the traffic is coming from
    // the actual vehicle
    if (message.sysid == _id) {
        _connectionActive();
    }

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

    // Give the Core Plugin access to all mavlink traffic
    if (!_toolbox->corePlugin()->mavlinkMessage(this, link, message)) {
        return;
    }

    switch (message.msgid) {
    case MAVLINK_MSG_ID_HOME_POSITION:
        _handleHomePosition(message);
        break;
    case MAVLINK_MSG_ID_HEARTBEAT:
        _handleHeartbeat(message);
        break;
    case MAVLINK_MSG_ID_RADIO_STATUS:
        _handleRadioStatus(message);
        break;
    case MAVLINK_MSG_ID_RC_CHANNELS:
        _handleRCChannels(message);
        break;
    case MAVLINK_MSG_ID_RC_CHANNELS_RAW:
        _handleRCChannelsRaw(message);
        break;
    case MAVLINK_MSG_ID_BATTERY_STATUS:
        _handleBatteryStatus(message);
        break;
    case MAVLINK_MSG_ID_SYS_STATUS:
        _handleSysStatus(message);
        break;
    case MAVLINK_MSG_ID_RAW_IMU:
        emit mavlinkRawImu(message);
        break;
    case MAVLINK_MSG_ID_SCALED_IMU:
        emit mavlinkScaledImu1(message);
        break;
    case MAVLINK_MSG_ID_SCALED_IMU2:
        emit mavlinkScaledImu2(message);
        break;
    case MAVLINK_MSG_ID_SCALED_IMU3:
        emit mavlinkScaledImu3(message);
        break;
    case MAVLINK_MSG_ID_VIBRATION:
        _handleVibration(message);
        break;
    case MAVLINK_MSG_ID_EXTENDED_SYS_STATE:
        _handleExtendedSysState(message);
        break;
    case MAVLINK_MSG_ID_COMMAND_ACK:
        _handleCommandAck(message);
        break;
    case MAVLINK_MSG_ID_COMMAND_LONG:
        _handleCommandLong(message);
        break;
    case MAVLINK_MSG_ID_AUTOPILOT_VERSION:
        _handleAutopilotVersion(link, message);
        break;
    case MAVLINK_MSG_ID_PROTOCOL_VERSION:
        _handleProtocolVersion(link, message);
        break;
    case MAVLINK_MSG_ID_WIND_COV:
        _handleWindCov(message);
        break;
    case MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS:
        _handleHilActuatorControls(message);
        break;
    case MAVLINK_MSG_ID_LOGGING_DATA:
        _handleMavlinkLoggingData(message);
        break;
    case MAVLINK_MSG_ID_LOGGING_DATA_ACKED:
        _handleMavlinkLoggingDataAcked(message);
        break;
    case MAVLINK_MSG_ID_GPS_RAW_INT:
        _handleGpsRawInt(message);
        break;
    case MAVLINK_MSG_ID_GLOBAL_POSITION_INT:
        _handleGlobalPositionInt(message);
        break;
    case MAVLINK_MSG_ID_ALTITUDE:
        _handleAltitude(message);
        break;
    case MAVLINK_MSG_ID_VFR_HUD:
        _handleVfrHud(message);
        break;
    case MAVLINK_MSG_ID_SCALED_PRESSURE:
        _handleScaledPressure(message);
        break;
    case MAVLINK_MSG_ID_SCALED_PRESSURE2:
        _handleScaledPressure2(message);
        break;
    case MAVLINK_MSG_ID_SCALED_PRESSURE3:
        _handleScaledPressure3(message);
        break;        
    case MAVLINK_MSG_ID_CAMERA_FEEDBACK:
        _handleCameraFeedback(message);
        break;
    case MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED:
        _handleCameraImageCaptured(message);
        break;
    case MAVLINK_MSG_ID_ADSB_VEHICLE:
        _handleADSBVehicle(message);
        break;

    case MAVLINK_MSG_ID_SERIAL_CONTROL:
    {
        mavlink_serial_control_t ser;
        mavlink_msg_serial_control_decode(&message, &ser);
        emit mavlinkSerialControl(ser.device, ser.flags, ser.timeout, ser.baudrate, QByteArray(reinterpret_cast<const char*>(ser.data), ser.count));
    }
        break;
    // Following are ArduPilot dialect messages

    case MAVLINK_MSG_ID_WIND:
        _handleWind(message);
        break;
    }

    emit mavlinkMessageReceived(message);

    _uas->receiveMessage(message);
}


void Vehicle::_handleCameraFeedback(const mavlink_message_t& message)
{
    mavlink_camera_feedback_t feedback;

    mavlink_msg_camera_feedback_decode(&message, &feedback);

    QGeoCoordinate imageCoordinate((double)feedback.lat / qPow(10.0, 7.0), (double)feedback.lng / qPow(10.0, 7.0), feedback.alt_msl);
    qCDebug(VehicleLog) << "_handleCameraFeedback coord:index" << imageCoordinate << feedback.img_idx;
    _cameraTriggerPoints.append(new QGCQGeoCoordinate(imageCoordinate, this));
}

void Vehicle::_handleCameraImageCaptured(const mavlink_message_t& message)
{
    mavlink_camera_image_captured_t feedback;

    mavlink_msg_camera_image_captured_decode(&message, &feedback);

    QGeoCoordinate imageCoordinate((double)feedback.lat / qPow(10.0, 7.0), (double)feedback.lon / qPow(10.0, 7.0), feedback.alt);
    qCDebug(VehicleLog) << "_handleCameraFeedback coord:index" << imageCoordinate << feedback.image_index << feedback.capture_result;
    if (feedback.capture_result == 1) {
        _cameraTriggerPoints.append(new QGCQGeoCoordinate(imageCoordinate, this));
    }
}

void Vehicle::_handleVfrHud(mavlink_message_t& message)
{
    mavlink_vfr_hud_t vfrHud;
    mavlink_msg_vfr_hud_decode(&message, &vfrHud);

    _airSpeedFact.setRawValue(qIsNaN(vfrHud.airspeed) ? 0 : vfrHud.airspeed);
    _groundSpeedFact.setRawValue(qIsNaN(vfrHud.groundspeed) ? 0 : vfrHud.groundspeed);
    _climbRateFact.setRawValue(qIsNaN(vfrHud.climb) ? 0 : vfrHud.climb);
}

void Vehicle::_handleGpsRawInt(mavlink_message_t& message)
{
    mavlink_gps_raw_int_t gpsRawInt;
    mavlink_msg_gps_raw_int_decode(&message, &gpsRawInt);

    _gpsRawIntMessageAvailable = true;

    if (gpsRawInt.fix_type >= GPS_FIX_TYPE_3D_FIX) {
        if (!_globalPositionIntMessageAvailable) {
            //-- Set these here and emit a single signal instead of 3 for the same variable (_coordinate)
            _coordinate.setLatitude(gpsRawInt.lat  / (double)1E7);
            _coordinate.setLongitude(gpsRawInt.lon / (double)1E7);
            _coordinate.setAltitude(gpsRawInt.alt  / 1000.0);
            emit coordinateChanged(_coordinate);
            _altitudeAMSLFact.setRawValue(gpsRawInt.alt / 1000.0);
        }
    }

    _gpsFactGroup.lat()->setRawValue(gpsRawInt.lat * 1e-7);
    _gpsFactGroup.lon()->setRawValue(gpsRawInt.lon * 1e-7);
    _gpsFactGroup.count()->setRawValue(gpsRawInt.satellites_visible == 255 ? 0 : gpsRawInt.satellites_visible);
    _gpsFactGroup.hdop()->setRawValue(gpsRawInt.eph == UINT16_MAX ? std::numeric_limits<double>::quiet_NaN() : gpsRawInt.eph / 100.0);
    _gpsFactGroup.vdop()->setRawValue(gpsRawInt.epv == UINT16_MAX ? std::numeric_limits<double>::quiet_NaN() : gpsRawInt.epv / 100.0);
    _gpsFactGroup.courseOverGround()->setRawValue(gpsRawInt.cog == UINT16_MAX ? std::numeric_limits<double>::quiet_NaN() : gpsRawInt.cog / 100.0);
    _gpsFactGroup.lock()->setRawValue(gpsRawInt.fix_type);
}

void Vehicle::_handleGlobalPositionInt(mavlink_message_t& message)
{
    mavlink_global_position_int_t globalPositionInt;
    mavlink_msg_global_position_int_decode(&message, &globalPositionInt);

    _altitudeRelativeFact.setRawValue(globalPositionInt.relative_alt / 1000.0);
    _altitudeAMSLFact.setRawValue(globalPositionInt.alt / 1000.0);

    // ArduPilot sends bogus GLOBAL_POSITION_INT messages with lat/lat 0/0 even when it has no gps signal
    // Apparently, this is in order to transport relative altitude information.
    if (globalPositionInt.lat == 0 && globalPositionInt.lon == 0) {
        return;
    }

    _globalPositionIntMessageAvailable = true;
    //-- Set these here and emit a single signal instead of 3 for the same variable (_coordinate)
    _coordinate.setLatitude(globalPositionInt.lat  / (double)1E7);
    _coordinate.setLongitude(globalPositionInt.lon / (double)1E7);
    _coordinate.setAltitude(globalPositionInt.alt  / 1000.0);
    emit coordinateChanged(_coordinate);
}

void Vehicle::_handleAltitude(mavlink_message_t& message)
{
    mavlink_altitude_t altitude;
    mavlink_msg_altitude_decode(&message, &altitude);

    // If data from GPS is available it takes precedence over ALTITUDE message
    if (!_globalPositionIntMessageAvailable) {
        _altitudeRelativeFact.setRawValue(altitude.altitude_relative);
        if (!_gpsRawIntMessageAvailable) {
            _altitudeAMSLFact.setRawValue(altitude.altitude_amsl);
        }
    }
}

void Vehicle::_setCapabilities(uint64_t capabilityBits)
{
    _capabilityBits = capabilityBits;
    _vehicleCapabilitiesKnown = true;
    emit capabilitiesKnownChanged(true);
    emit capabilityBitsChanged(_capabilityBits);

    // This should potentially be turned into a user-facing warning
    // if the general experience after deployment is that users want MAVLink 2
    // but forget to upgrade their radio firmware
    if (capabilityBits & MAV_PROTOCOL_CAPABILITY_MAVLINK2 && maxProtoVersion() < 200) {
        qCDebug(VehicleLog) << QString("Vehicle does support MAVLink 2 but the link does not allow for it.");
    }

    QString supports("supports");
    QString doesNotSupport("does not support");

    qCDebug(VehicleLog) << QString("Vehicle %1 Mavlink 2.0").arg(_capabilityBits & MAV_PROTOCOL_CAPABILITY_MAVLINK2 ? supports : doesNotSupport);
    qCDebug(VehicleLog) << QString("Vehicle %1 MISSION_ITEM_INT").arg(_capabilityBits & MAV_PROTOCOL_CAPABILITY_MISSION_INT ? supports : doesNotSupport);
    qCDebug(VehicleLog) << QString("Vehicle %1 GeoFence").arg(_capabilityBits & MAV_PROTOCOL_CAPABILITY_MISSION_FENCE ? supports : doesNotSupport);
    qCDebug(VehicleLog) << QString("Vehicle %1 RallyPoints").arg(_capabilityBits & MAV_PROTOCOL_CAPABILITY_MISSION_RALLY ? supports : doesNotSupport);
}

void Vehicle::_handleAutopilotVersion(LinkInterface *link, mavlink_message_t& message)
{
    Q_UNUSED(link);

    mavlink_autopilot_version_t autopilotVersion;
    mavlink_msg_autopilot_version_decode(&message, &autopilotVersion);

    if (autopilotVersion.flight_sw_version != 0) {
        int majorVersion, minorVersion, patchVersion;
        FIRMWARE_VERSION_TYPE versionType;

        majorVersion = (autopilotVersion.flight_sw_version >> (8*3)) & 0xFF;
        minorVersion = (autopilotVersion.flight_sw_version >> (8*2)) & 0xFF;
        patchVersion = (autopilotVersion.flight_sw_version >> (8*1)) & 0xFF;
        versionType = (FIRMWARE_VERSION_TYPE)((autopilotVersion.flight_sw_version >> (8*0)) & 0xFF);
        setFirmwareVersion(majorVersion, minorVersion, patchVersion, versionType);
    }

    if (px4Firmware()) {
        // Lower 3 bytes is custom version
        int majorVersion, minorVersion, patchVersion;
        majorVersion = autopilotVersion.flight_custom_version[2];
        minorVersion = autopilotVersion.flight_custom_version[1];
        patchVersion = autopilotVersion.flight_custom_version[0];
        setFirmwareCustomVersion(majorVersion, minorVersion, patchVersion);

        // PX4 Firmware stores the first 16 characters of the git hash as binary, with the individual bytes in reverse order
        _gitHash = "";
        QByteArray array((char*)autopilotVersion.flight_custom_version, 8);
        for (int i = 7; i >= 0; i--) {
            _gitHash.append(QString("%1").arg(autopilotVersion.flight_custom_version[i], 2, 16, QChar('0')));
        }
    } else {
        // APM Firmware stores the first 8 characters of the git hash as an ASCII character string
        _gitHash = QString::fromUtf8((char*)autopilotVersion.flight_custom_version, 8);
    }
    emit gitHashChanged(_gitHash);

    _setCapabilities(autopilotVersion.capabilities);
    _startPlanRequest();
}

void Vehicle::_handleProtocolVersion(LinkInterface *link, mavlink_message_t& message)
{
    Q_UNUSED(link);

    mavlink_protocol_version_t protoVersion;
    mavlink_msg_protocol_version_decode(&message, &protoVersion);

    _setMaxProtoVersion(protoVersion.max_version);
}

void Vehicle::_setMaxProtoVersion(unsigned version) {

    // Set only once or if we need to reduce the max version
    if (_maxProtoVersion == 0 || version < _maxProtoVersion) {
        _maxProtoVersion = version;
        emit requestProtocolVersion(_maxProtoVersion);

        // Now that the protocol version is known, the mission load is safe
        // as it will use the right MAVLink version to enable all features
        // the vehicle supports
        _startPlanRequest();
    }
}

void Vehicle::_handleHilActuatorControls(mavlink_message_t &message)
{
    mavlink_hil_actuator_controls_t hil;
    mavlink_msg_hil_actuator_controls_decode(&message, &hil);
    emit hilActuatorControlsChanged(hil.time_usec, hil.flags,
                                    hil.controls[0],
                                    hil.controls[1],
                                    hil.controls[2],
                                    hil.controls[3],
                                    hil.controls[4],
                                    hil.controls[5],
                                    hil.controls[6],
                                    hil.controls[7],
                                    hil.controls[8],
                                    hil.controls[9],
                                    hil.controls[10],
                                    hil.controls[11],
                                    hil.controls[12],
                                    hil.controls[13],
                                    hil.controls[14],
                                    hil.controls[15],
                                    hil.mode);
}

void Vehicle::_handleCommandAck(mavlink_message_t& message)
{
    bool showError = false;

    mavlink_command_ack_t ack;
    mavlink_msg_command_ack_decode(&message, &ack);

    if (ack.command == MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES && ack.result != MAV_RESULT_ACCEPTED) {
        // We aren't going to get a response back for capabilities, so stop waiting for it before we ask for mission items
        qCDebug(VehicleLog) << "Vehicle failed to responded to MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES with error. Starting mission request.";
        _setCapabilities(0);
    }

    if (ack.command == MAV_CMD_REQUEST_PROTOCOL_VERSION && ack.result != MAV_RESULT_ACCEPTED) {
        // The autopilot does not understand the request and consequently is likely handling only
        // MAVLink 1
        if (_maxProtoVersion == 0) {
            _setMaxProtoVersion(100);
        }
    }

    if (_mavCommandQueue.count() && ack.command == _mavCommandQueue[0].command) {
        _mavCommandAckTimer.stop();
        showError = _mavCommandQueue[0].showError;
        _mavCommandQueue.removeFirst();
    }

    emit mavCommandResult(_id, message.compid, ack.command, ack.result, false /* noResponsefromVehicle */);

    if (showError) {
        QString commandName = _toolbox->missionCommandTree()->friendlyName((MAV_CMD)ack.command);

        switch (ack.result) {
        case MAV_RESULT_TEMPORARILY_REJECTED:
            qgcApp()->showMessage(tr("%1 command temporarily rejected").arg(commandName));
            break;
        case MAV_RESULT_DENIED:
            qgcApp()->showMessage(tr("%1 command denied").arg(commandName));
            break;
        case MAV_RESULT_UNSUPPORTED:
            qgcApp()->showMessage(tr("%1 command not supported").arg(commandName));
            break;
        case MAV_RESULT_FAILED:
            qgcApp()->showMessage(tr("%1 command failed").arg(commandName));
            break;
        default:
            // Do nothing
            break;
        }
    }

    _sendNextQueuedMavCommand();
}

void Vehicle::_handleCommandLong(mavlink_message_t& message)
{
    mavlink_command_long_t cmd;
    mavlink_msg_command_long_decode(&message, &cmd);

    switch (cmd.command) {
        // Other component on the same system
        // requests that QGC frees up the serial port of the autopilot
        case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
            if (cmd.param6 > 0) {
                // disconnect the USB link if its a direct connection to a Pixhawk
                for (int i = 0; i < _links.length(); i++) {
                    SerialLink *sl = qobject_cast<SerialLink*>(_links.at(i));
                    if (sl && sl->getSerialConfig()->usbDirect()) {
                        qDebug() << "Disconnecting:" << _links.at(i)->getName();
                        qgcApp()->toolbox()->linkManager()->disconnectLink(_links.at(i));
                    }
                }
            }
        break;
    }
}

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

    switch (extendedState.landed_state) {
    case MAV_LANDED_STATE_ON_GROUND:
        _setFlying(false);
        _setLanding(false);
        break;
    case MAV_LANDED_STATE_TAKEOFF:
    case MAV_LANDED_STATE_IN_AIR:
        _setFlying(true);
        _setLanding(false);
        break;
    case MAV_LANDED_STATE_LANDING:
        _setFlying(true);
        _setLanding(true);
        break;
    default:
        break;
    }
}

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

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

void Vehicle::_handleWindCov(mavlink_message_t& message)
{
    mavlink_wind_cov_t wind;
    mavlink_msg_wind_cov_decode(&message, &wind);

    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);