UAS.cc

/*===================================================================
======================================================================*/

/**
 * @file
 *   @brief Represents one unmanned aerial vehicle
 *
 *   @author Lorenz Meier <mavteam@student.ethz.ch>
 *
 */

#include <QList>
#include <QMessageBox>
#include <QTimer>
#include <QSettings>
#include <iostream>
#include <QDebug>
#include <cmath>
#include <qmath.h>
#include "UAS.h"
#include "LinkInterface.h"
#include "UASManager.h"
#include "QGC.h"
#include "GAudioOutput.h"
#include "MAVLinkProtocol.h"
#include "QGCMAVLink.h"
#include "LinkManager.h"
#include "SerialLink.h"

#ifdef QGC_PROTOBUF_ENABLED
#include <google/protobuf/descriptor.h>
#endif

/**
* Gets the settings from the previous UAS (name, airframe, autopilot, battery specs)
* by calling readSettings. This means the new UAS will have the same settings 
* as the previous one created unless one calls deleteSettings in the code after
* creating the UAS. 
*/
UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
    uasId(id),
    startTime(QGC::groundTimeMilliseconds()),
    commStatus(COMM_DISCONNECTED),
    name(""),
    autopilot(-1),
    links(new QList<LinkInterface*>()),
    unknownPackets(),
    mavlink(protocol),
    waypointManager(this),
    thrustSum(0),
    thrustMax(10),
    startVoltage(-1.0f),
    tickVoltage(10.5f),
    lastTickVoltageValue(13.0f),
    tickLowpassVoltage(12.0f),
    warnVoltage(9.5f),
    warnLevelPercent(20.0f),
    currentVoltage(12.6f),
    lpVoltage(12.0f),
    batteryRemainingEstimateEnabled(true),
    mode(-1),
    status(-1),
    navMode(-1),
    onboardTimeOffset(0),
    controlRollManual(true),
    controlPitchManual(true),
    controlYawManual(true),
    controlThrustManual(true),
    manualRollAngle(0),
    manualPitchAngle(0),
    manualYawAngle(0),
    manualThrust(0),
    receiveDropRate(0),
    sendDropRate(0),
    lowBattAlarm(false),
    positionLock(false),
    localX(0.0),
    localY(0.0),
    localZ(0.0),
    globalEstimatorActive(false),
    latitude_gps(0.0),
    longitude_gps(0.0),
    altitude_gps(0.0),
    roll(0.0),
    pitch(0.0),
    yaw(0.0),
    statusTimeout(new QTimer(this)),
    #if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
    receivedOverlayTimestamp(0.0),
    receivedObstacleListTimestamp(0.0),
    receivedPathTimestamp(0.0),
    receivedPointCloudTimestamp(0.0),
    receivedRGBDImageTimestamp(0.0),
    #endif
    paramsOnceRequested(false),
    airframe(QGC_AIRFRAME_GENERIC),
    attitudeKnown(false),
    paramManager(NULL),
    attitudeStamped(false),
    lastAttitude(0),
    simulation(0),
    isLocalPositionKnown(false),
    isGlobalPositionKnown(false),
    systemIsArmed(false),
    nedPosGlobalOffset(0,0,0),
    nedAttGlobalOffset(0,0,0),
    connectionLost(false),
    lastVoltageWarning(0),
    lastNonNullTime(0),
    onboardTimeOffsetInvalidCount(0),
    hilEnabled(false),
    sensorHil(false),
    lastSendTimeGPS(0),
    lastSendTimeSensors(0)

{
    for (unsigned int i = 0; i<255;++i)
    {
        componentID[i] = -1;
        componentMulti[i] = false;
    }
    
    color = UASInterface::getNextColor();
    setBatterySpecs(QString("9V,9.5V,12.6V"));
    connect(statusTimeout, SIGNAL(timeout()), this, SLOT(updateState()));
    connect(this, SIGNAL(systemSpecsChanged(int)), this, SLOT(writeSettings()));
    statusTimeout->start(500);
    readSettings(); 
    type = MAV_TYPE_GENERIC;
    // Initial signals
    emit disarmed();
    emit armingChanged(false);  
}

/**
* Saves the settings of name, airframe, autopilot type and battery specifications
* by calling writeSettings.
*/
UAS::~UAS()
{
    writeSettings();
    delete links;
    delete statusTimeout;
    delete simulation;
}

/**
* Saves the settings of name, airframe, autopilot type and battery specifications
* for the next instantiation of UAS.
*/
void UAS::writeSettings()
{
    QSettings settings;
    settings.beginGroup(QString("MAV%1").arg(uasId));
    settings.setValue("NAME", this->name);
    settings.setValue("AIRFRAME", this->airframe);
    settings.setValue("AP_TYPE", this->autopilot);
    settings.setValue("BATTERY_SPECS", getBatterySpecs());
    settings.endGroup();
    settings.sync();
}

/**
* Reads in the settings: name, airframe, autopilot type, and battery specifications
* for the new UAS.
*/
void UAS::readSettings()
{
    QSettings settings;
    settings.beginGroup(QString("MAV%1").arg(uasId));
    this->name = settings.value("NAME", this->name).toString();
    this->airframe = settings.value("AIRFRAME", this->airframe).toInt();
    this->autopilot = settings.value("AP_TYPE", this->autopilot).toInt();
    if (settings.contains("BATTERY_SPECS"))
    {
        setBatterySpecs(settings.value("BATTERY_SPECS").toString());
    }
    settings.endGroup();
}

/**
*  Deletes the settings origianally read into the UAS by readSettings.
*  This is in case one does not want the old values but would rather 
*  start with the values assigned by the constructor.
*/
void UAS::deleteSettings()
{
    this->name = "";
    this->airframe = QGC_AIRFRAME_GENERIC;
    this->autopilot = -1;
    setBatterySpecs(QString("9V,9.5V,12.6V"));
}

/**
* @ return the id of the uas
*/
int UAS::getUASID() const
{
    return uasId;
}

/**
* Update the heartbeat.
*/
void UAS::updateState()
{
    // Check if heartbeat timed out
    quint64 heartbeatInterval = QGC::groundTimeUsecs() - lastHeartbeat;
    if (!connectionLost && (heartbeatInterval > timeoutIntervalHeartbeat))
    {
        connectionLost = true;
        QString audiostring = QString("Link lost to system %1").arg(this->getUASID());
        GAudioOutput::instance()->say(audiostring.toLower());
    }

    // Update connection loss time on each iteration
    if (connectionLost && (heartbeatInterval > timeoutIntervalHeartbeat))
    {
        connectionLossTime = heartbeatInterval;
        emit heartbeatTimeout(true, heartbeatInterval/1000);
    }

    // Connection gained
    if (connectionLost && (heartbeatInterval < timeoutIntervalHeartbeat))
    {
        QString audiostring = QString("Link regained to system %1 after %2 seconds").arg(this->getUASID()).arg((int)(connectionLossTime/1000000));
        GAudioOutput::instance()->say(audiostring.toLower());
        connectionLost = false;
        connectionLossTime = 0;
        emit heartbeatTimeout(false, 0);
    }

    // Position lock is set by the MAVLink message handler
    // if no position lock is available, indicate an error
    if (positionLock)
    {
        positionLock = false;
    }
    else
    {
        if (((mode&MAV_MODE_FLAG_DECODE_POSITION_AUTO) || (mode&MAV_MODE_FLAG_DECODE_POSITION_GUIDED)) && positionLock)
        {
            GAudioOutput::instance()->notifyNegative();
        }
    }

//#define MAVLINK_OFFBOARD_CONTROL_MODE_NONE 0
//#define MAVLINK_OFFBOARD_CONTROL_MODE_RATES 1
//#define MAVLINK_OFFBOARD_CONTROL_MODE_ATTITUDE 2
//#define MAVLINK_OFFBOARD_CONTROL_MODE_VELOCITY 3
//#define MAVLINK_OFFBOARD_CONTROL_MODE_POSITION 4
//#define MAVLINK_OFFBOARD_CONTROL_FLAG_ARMED 0x10

//#warning THIS IS A HUGE HACK AND SHOULD NEVER SHOW UP IN ANY GIT REPOSITORY
//    mavlink_message_t message;

//            mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t sp;

//            sp.group = 0;

//            /* set rate mode, set zero rates and 20% throttle */
//            sp.mode = MAVLINK_OFFBOARD_CONTROL_MODE_RATES | MAVLINK_OFFBOARD_CONTROL_FLAG_ARMED;

//            sp.roll[0] = INT16_MAX * 0.0f;
//            sp.pitch[0] = INT16_MAX * 0.0f;
//            sp.yaw[0] = INT16_MAX * 0.0f;
//            sp.thrust[0] = UINT16_MAX * 0.3f;


//            /* send from system 200 and component 0 */
//            mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_encode(200, 0, &message, &sp);

//            sendMessage(message);
}

/**
* If the acitve UAS (the UAS that was selected) is not the one that is currently
* active, then change the active UAS to the one that was selected.
*/
void UAS::setSelected()
{
    if (UASManager::instance()->getActiveUAS() != this)
    {
        UASManager::instance()->setActiveUAS(this);
        emit systemSelected(true);
    }
}

/**
* @return if the active UAS is the current UAS
**/
bool UAS::getSelected() const
{
    return (UASManager::instance()->getActiveUAS() == this);
}

void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
{
    if (!link) return;
    if (!links->contains(link))
    {
        addLink(link);
        //        qDebug() << __FILE__ << __LINE__ << "ADDED LINK!" << link->getName();
    }

    if (!components.contains(message.compid))
    {
        QString componentName;

        switch (message.compid)
        {
        case MAV_COMP_ID_ALL:
        {
            componentName = "ANONYMOUS";
            break;
        }
        case MAV_COMP_ID_IMU:
        {
            componentName = "IMU #1";
            break;
        }
        case MAV_COMP_ID_CAMERA:
        {
            componentName = "CAMERA";
            break;
        }
        case MAV_COMP_ID_MISSIONPLANNER:
        {
            componentName = "MISSIONPLANNER";
            break;
        }
        }

        components.insert(message.compid, componentName);
        emit componentCreated(uasId, message.compid, componentName);
    }

    //    qDebug() << "UAS RECEIVED from" << message.sysid << "component" << message.compid << "msg id" << message.msgid << "seq no" << message.seq;

    // Only accept messages from this system (condition 1)
    // and only then if a) attitudeStamped is disabled OR b) attitudeStamped is enabled
    // and we already got one attitude packet
    if (message.sysid == uasId && (!attitudeStamped || (attitudeStamped && (lastAttitude != 0)) || message.msgid == MAVLINK_MSG_ID_ATTITUDE))
    {
        QString uasState;
        QString stateDescription;

        bool multiComponentSourceDetected = false;
        bool wrongComponent = false;

        switch (message.compid)
        {
        case MAV_COMP_ID_IMU_2:
            // Prefer IMU 2 over IMU 1 (FIXME)
            componentID[message.msgid] = MAV_COMP_ID_IMU_2;
            break;
        default:
            // Do nothing
            break;
        }

        // Store component ID
        if (componentID[message.msgid] == -1)
        {
            // Prefer the first component
            componentID[message.msgid] = message.compid;
        }
        else
        {
            // Got this message already
            if (componentID[message.msgid] != message.compid)
            {
                componentMulti[message.msgid] = true;
                wrongComponent = true;
            }
        }

        if (componentMulti[message.msgid] == true) multiComponentSourceDetected = true;


        switch (message.msgid)
        {
        case MAVLINK_MSG_ID_HEARTBEAT:
        {
            if (multiComponentSourceDetected && wrongComponent)
            {
                break;
            }
            lastHeartbeat = QGC::groundTimeUsecs();
            emit heartbeat(this);
            mavlink_heartbeat_t state;
            mavlink_msg_heartbeat_decode(&message, &state);
			
			// Send the base_mode and system_status values to the plotter. This uses the ground time
			// so the Ground Time checkbox must be ticked for these values to display
            quint64 time = getUnixTime();
			QString name = QString("M%1:HEARTBEAT.%2").arg(message.sysid);
			emit valueChanged(uasId, name.arg("base_mode"), "bits", state.base_mode, time);
			emit valueChanged(uasId, name.arg("custom_mode"), "bits", state.custom_mode, time);
			emit valueChanged(uasId, name.arg("system_status"), "-", state.system_status, time);
			
            // Set new type if it has changed
            if (this->type != state.type)
            {
                this->type = state.type;
                if (airframe == 0)
                {
                    switch (type)
                    {
                    case MAV_TYPE_FIXED_WING:
                        setAirframe(UASInterface::QGC_AIRFRAME_EASYSTAR);
                        break;
                    case MAV_TYPE_QUADROTOR:
                        setAirframe(UASInterface::QGC_AIRFRAME_CHEETAH);
                        break;
                    case MAV_TYPE_HEXAROTOR:
                        setAirframe(UASInterface::QGC_AIRFRAME_HEXCOPTER);
                        break;
                    default:
                        // Do nothing
                        break;
                    }
                }
                this->autopilot = state.autopilot;
                emit systemTypeSet(this, type);
            }

            bool currentlyArmed = state.base_mode & MAV_MODE_FLAG_DECODE_POSITION_SAFETY;

            if (systemIsArmed != currentlyArmed)
            {
                systemIsArmed = currentlyArmed;
                emit armingChanged(systemIsArmed);
                if (systemIsArmed)
                {
                    emit armed();
                }
                else
                {
                    emit disarmed();
                }
            }

            QString audiostring = QString("System %1").arg(uasId);
            QString stateAudio = "";
            QString modeAudio = "";
            QString navModeAudio = "";
            bool statechanged = false;
            bool modechanged = false;

            QString audiomodeText = getAudioModeTextFor(static_cast<int>(state.base_mode));


            if ((state.system_status != this->status) && state.system_status != MAV_STATE_UNINIT)
            {
                statechanged = true;
                this->status = state.system_status;
                getStatusForCode((int)state.system_status, uasState, stateDescription);
                emit statusChanged(this, uasState, stateDescription);
                emit statusChanged(this->status);

                shortStateText = uasState;

                // Adjust for better audio
                if (uasState == QString("STANDBY")) uasState = QString("standing by");
                if (uasState == QString("EMERGENCY")) uasState = QString("emergency condition");
                if (uasState == QString("CRITICAL")) uasState = QString("critical condition");
                if (uasState == QString("SHUTDOWN")) uasState = QString("shutting down");

                stateAudio = uasState;
            }

            if (this->mode != static_cast<int>(state.base_mode))
            {
                modechanged = true;
                this->mode = static_cast<int>(state.base_mode);
                shortModeText = getShortModeTextFor(this->mode);

                emit modeChanged(this->getUASID(), shortModeText, "");

                modeAudio = " is now in " + audiomodeText;
            }

            if (navMode != state.custom_mode)
            {
                emit navModeChanged(uasId, state.custom_mode, getNavModeText(state.custom_mode));
                navMode = state.custom_mode;
                //navModeAudio = tr(" changed nav mode to ") + tr("FIXME");
            }

            // AUDIO
            if (modechanged && statechanged)
            {
                // Output both messages
                audiostring += modeAudio + " and " + stateAudio;
            }
            else if (modechanged || statechanged)
            {
                // Output the one message
                audiostring += modeAudio + stateAudio + navModeAudio;
            }

            if (statechanged && ((int)state.system_status == (int)MAV_STATE_CRITICAL || state.system_status == (int)MAV_STATE_EMERGENCY))
            {
                GAudioOutput::instance()->say(QString("emergency for system %1").arg(this->getUASID()));
                QTimer::singleShot(3000, GAudioOutput::instance(), SLOT(startEmergency()));
            }
            else if (modechanged || statechanged)
            {
                GAudioOutput::instance()->stopEmergency();
                GAudioOutput::instance()->say(audiostring.toLower());
            }
        }

            break;
        case MAVLINK_MSG_ID_SYS_STATUS:
        {
            if (multiComponentSourceDetected && wrongComponent)
            {
                break;
            }
            mavlink_sys_status_t state;
            mavlink_msg_sys_status_decode(&message, &state);

			// Prepare for sending data to the realtime plotter, which is every field excluding onboard_control_sensors_present.
            quint64 time = getUnixTime();
			QString name = QString("M%1:SYS_STATUS.%2").arg(message.sysid);
			emit valueChanged(uasId, name.arg("sensors_enabled"), "bits", state.onboard_control_sensors_enabled, time);
			emit valueChanged(uasId, name.arg("sensors_health"), "bits", state.onboard_control_sensors_health, time);
			emit valueChanged(uasId, name.arg("errors_comm"), "-", state.errors_comm, time);
			emit valueChanged(uasId, name.arg("errors_count1"), "-", state.errors_count1, time);
			emit valueChanged(uasId, name.arg("errors_count2"), "-", state.errors_count2, time);
			emit valueChanged(uasId, name.arg("errors_count3"), "-", state.errors_count3, time);
            emit valueChanged(uasId, name.arg("errors_count4"), "-", state.errors_count4, time);

			// Process CPU load.
            emit loadChanged(this,state.load/10.0f);
			emit valueChanged(uasId, name.arg("load"), "%", state.load/10.0f, time);

			// Battery charge/time remaining/voltage calculations
            currentVoltage = state.voltage_battery/1000.0f;
            lpVoltage = filterVoltage(currentVoltage);
            tickLowpassVoltage = tickLowpassVoltage*0.8f + 0.2f*currentVoltage;


            // We don't want to tick above the threshold
            if (tickLowpassVoltage > tickVoltage)
            {
                lastTickVoltageValue = tickLowpassVoltage;
            }

            if ((startVoltage > 0.0f) && (tickLowpassVoltage < tickVoltage) && (fabs(lastTickVoltageValue - tickLowpassVoltage) > 0.1f)
                    /* warn if lower than treshold */
                    && (lpVoltage < tickVoltage)
                    /* warn only if we have at least the voltage of an empty LiPo cell, else we're sampling something wrong */
                    && (currentVoltage > 3.3f)
                    /* warn only if current voltage is really still lower by a reasonable amount */
                    && ((currentVoltage - 0.2f) < tickVoltage)
                    /* warn only every 12 seconds */
                    && (QGC::groundTimeUsecs() - lastVoltageWarning) > 12000000)
            {
                GAudioOutput::instance()->say(QString("voltage warning: %1 volts").arg(lpVoltage, 0, 'f', 1, QChar(' ')));
                lastVoltageWarning = QGC::groundTimeUsecs();
                lastTickVoltageValue = tickLowpassVoltage;
            }

            if (startVoltage == -1.0f && currentVoltage > 0.1f) startVoltage = currentVoltage;
            timeRemaining = calculateTimeRemaining();
            if (!batteryRemainingEstimateEnabled && chargeLevel != -1)
            {
                chargeLevel = state.battery_remaining;
            }
            emit batteryChanged(this, lpVoltage, getChargeLevel(), timeRemaining);
			emit valueChanged(uasId, name.arg("battery_remaining"), "%", getChargeLevel(), time);
            emit voltageChanged(message.sysid, currentVoltage);
			emit valueChanged(uasId, name.arg("battery_voltage"), "V", currentVoltage, time);

			// And if the battery current draw is measured, log that also.
			if (state.current_battery != -1)
			{
				emit valueChanged(uasId, name.arg("battery_current"), "A", ((double)state.current_battery) / 100.0f, time);
			}

            // LOW BATTERY ALARM
            if (lpVoltage < warnVoltage && (currentVoltage - 0.2f) < warnVoltage && (currentVoltage > 3.3))
            {
                startLowBattAlarm();
            }
            else
            {
                stopLowBattAlarm();
            }

            // control_sensors_enabled:
            // relevant bits: 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control
            emit attitudeControlEnabled(state.onboard_control_sensors_enabled & (1 << 11));
            emit positionYawControlEnabled(state.onboard_control_sensors_enabled & (1 << 12));
            emit positionZControlEnabled(state.onboard_control_sensors_enabled & (1 << 13));
            emit positionXYControlEnabled(state.onboard_control_sensors_enabled & (1 << 14));

			// Trigger drop rate updates as needed. Here we convert the incoming
			// drop_rate_comm value from 1/100 of a percent in a uint16 to a true
			// percentage as a float. We also cap the incoming value at 100% as defined
			// by the MAVLink specifications.
			if (state.drop_rate_comm > 10000)
			{
				state.drop_rate_comm = 10000;
			}
			emit dropRateChanged(this->getUASID(), state.drop_rate_comm/100.0f);
			emit valueChanged(uasId, name.arg("drop_rate_comm"), "%", state.drop_rate_comm/100.0f, time);
		}
            break;
        case MAVLINK_MSG_ID_ATTITUDE:
        {
            mavlink_attitude_t attitude;
            mavlink_msg_attitude_decode(&message, &attitude);
            quint64 time = getUnixReferenceTime(attitude.time_boot_ms);

            emit attitudeChanged(this, message.compid, QGC::limitAngleToPMPIf(attitude.roll), QGC::limitAngleToPMPIf(attitude.pitch), QGC::limitAngleToPMPIf(attitude.yaw), time);

            if (!wrongComponent)
            {
                lastAttitude = time;
                roll = QGC::limitAngleToPMPIf(attitude.roll);
                pitch = QGC::limitAngleToPMPIf(attitude.pitch);
                yaw = QGC::limitAngleToPMPIf(attitude.yaw);

                //                // Emit in angles

                //                // Convert yaw angle to compass value
                //                // in 0 - 360 deg range
                //                float compass = (yaw/M_PI)*180.0+360.0f;
                //                if (compass > -10000 && compass < 10000)
                //                {
                //                    while (compass > 360.0f) {
                //                        compass -= 360.0f;
                //                    }
                //                }
                //                else
                //                {
                //                    // Set to 0, since it is an invalid value
                //                    compass = 0.0f;
                //                }

                attitudeKnown = true;
                emit attitudeChanged(this, roll, pitch, yaw, time);
                emit attitudeSpeedChanged(uasId, attitude.rollspeed, attitude.pitchspeed, attitude.yawspeed, time);
            }
        }
            break;
        case MAVLINK_MSG_ID_LOCAL_POSITION_NED_SYSTEM_GLOBAL_OFFSET:
        {
            mavlink_local_position_ned_system_global_offset_t offset;
            mavlink_msg_local_position_ned_system_global_offset_decode(&message, &offset);
            nedPosGlobalOffset.setX(offset.x);
            nedPosGlobalOffset.setY(offset.y);
            nedPosGlobalOffset.setZ(offset.z);
            nedAttGlobalOffset.setX(offset.roll);
            nedAttGlobalOffset.setY(offset.pitch);
            nedAttGlobalOffset.setZ(offset.yaw);
        }
            break;
        case MAVLINK_MSG_ID_HIL_CONTROLS:
        {
            mavlink_hil_controls_t hil;
            mavlink_msg_hil_controls_decode(&message, &hil);
            emit hilControlsChanged(hil.time_usec, hil.roll_ailerons, hil.pitch_elevator, hil.yaw_rudder, hil.throttle, hil.mode, hil.nav_mode);
        }
            break;
        case MAVLINK_MSG_ID_VFR_HUD:
        {
            mavlink_vfr_hud_t hud;
            mavlink_msg_vfr_hud_decode(&message, &hud);
            quint64 time = getUnixTime();
            // Display updated values
            emit thrustChanged(this, hud.throttle/100.0);

            if (!attitudeKnown)
            {
                yaw = QGC::limitAngleToPMPId((((double)hud.heading-180.0)/360.0)*M_PI);
                emit attitudeChanged(this, roll, pitch, yaw, time);
            }

            emit altitudeChanged(uasId, hud.alt);
            emit speedChanged(this, hud.airspeed, 0.0f, hud.climb, time);
        }
            break;
        case MAVLINK_MSG_ID_LOCAL_POSITION_NED:
            //std::cerr << std::endl;
            //std::cerr << "Decoded attitude message:" << " roll: " << std::dec << mavlink_msg_attitude_get_roll(message.payload) << " pitch: " << mavlink_msg_attitude_get_pitch(message.payload) << " yaw: " << mavlink_msg_attitude_get_yaw(message.payload) << std::endl;
        {
            mavlink_local_position_ned_t pos;
            mavlink_msg_local_position_ned_decode(&message, &pos);
            quint64 time = getUnixTime(pos.time_boot_ms);

            // Emit position always with component ID
            emit localPositionChanged(this, message.compid, pos.x, pos.y, pos.z, time);


            if (!wrongComponent)
            {
                localX = pos.x;
                localY = pos.y;
                localZ = pos.z;

                // Emit

                emit localPositionChanged(this, pos.x, pos.y, pos.z, time);
                emit speedChanged(this, pos.vx, pos.vy, pos.vz, time);

                // Set internal state
                if (!positionLock) {
                    // If position was not locked before, notify positive
                    GAudioOutput::instance()->notifyPositive();
                }
                positionLock = true;
                isLocalPositionKnown = true;
            }
        }
            break;
        case MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE:
        {
            mavlink_global_vision_position_estimate_t pos;
            mavlink_msg_global_vision_position_estimate_decode(&message, &pos);
            quint64 time = getUnixTime(pos.usec);
            emit localPositionChanged(this, message.compid, pos.x, pos.y, pos.z, time);
            emit attitudeChanged(this, message.compid, pos.roll, pos.pitch, pos.yaw, time);
        }
            break;
        case MAVLINK_MSG_ID_GLOBAL_POSITION_INT:
            //std::cerr << std::endl;
            //std::cerr << "Decoded attitude message:" << " roll: " << std::dec << mavlink_msg_attitude_get_roll(message.payload) << " pitch: " << mavlink_msg_attitude_get_pitch(message.payload) << " yaw: " << mavlink_msg_attitude_get_yaw(message.payload) << std::endl;
        {
            mavlink_global_position_int_t pos;
            mavlink_msg_global_position_int_decode(&message, &pos);
            quint64 time = getUnixTime();
            //latitude = pos.lat/(double)1E7;
            setLatitude(pos.lat/(double)1E7);
            //longitude = pos.lon/(double)1E7;
            setLongitude(pos.lon/(double)1E7);
            //altitude = pos.alt/1000.0;
            setAltitude(pos.alt/1000.0);
            globalEstimatorActive = true;
            speedX = pos.vx/100.0;
            speedY = pos.vy/100.0;
            speedZ = pos.vz/100.0;
            emit globalPositionChanged(this, getLatitude(), getLongitude(), getAltitude(), time);
            emit speedChanged(this, speedX, speedY, speedZ, time);

            // Set internal state
            if (!positionLock)
            {
                // If position was not locked before, notify positive
                GAudioOutput::instance()->notifyPositive();
            }
            positionLock = true;
            isGlobalPositionKnown = true;
            //TODO fix this hack for forwarding of global position for patch antenna tracking
            forwardMessage(message);
        }
            break;
        case MAVLINK_MSG_ID_GPS_RAW_INT:
        {
            mavlink_gps_raw_int_t pos;
            mavlink_msg_gps_raw_int_decode(&message, &pos);

            // SANITY CHECK
            // only accept values in a realistic range
            // quint64 time = getUnixTime(pos.time_usec);
            quint64 time = getUnixTime(pos.time_usec);
            
            emit gpsLocalizationChanged(this, pos.fix_type);
            // TODO: track localization state not only for gps but also for other loc. sources
            int loc_type = pos.fix_type;
            if (loc_type == 1)
            {
                loc_type = 0; 
            }
            emit localizationChanged(this, loc_type);

            if (pos.fix_type > 2)
            {
                latitude_gps = pos.lat/(double)1E7;
                longitude_gps = pos.lon/(double)1E7;
                altitude_gps = pos.alt/1000.0;

                if (!globalEstimatorActive) {
                    //latitude = latitude_gps;
                    setLatitude(latitude_gps);
                    //longitude = longitude_gps;
                    setLongitude(longitude_gps);
                    //altitude = altitude_gps;
                    setAltitude(altitude_gps);
                    emit globalPositionChanged(this, getLatitude(), getLongitude(), getAltitude(), time);
                }

                positionLock = true;
                isGlobalPositionKnown = true;

                // Smaller than threshold and not NaN

                float vel = pos.vel/100.0f;

                if (!globalEstimatorActive) {
                    if ((vel < 1000000) && !isnan(vel) && !isinf(vel))
                    {
                        emit speedChanged(this, vel, 0.0, 0.0, time);
                    }
                    else
                    {
                        emit textMessageReceived(uasId, message.compid, 255, QString("GCS ERROR: RECEIVED INVALID SPEED OF %1 m/s").arg(vel));
                    }
                }
            }
        }
            break;
        case MAVLINK_MSG_ID_GPS_STATUS:
        {
            mavlink_gps_status_t pos;
            mavlink_msg_gps_status_decode(&message, &pos);
            for(int i = 0; i < (int)pos.satellites_visible; i++)
            {
                emit gpsSatelliteStatusChanged(uasId, (unsigned char)pos.satellite_prn[i], (unsigned char)pos.satellite_elevation[i], (unsigned char)pos.satellite_azimuth[i], (unsigned char)pos.satellite_snr[i], static_cast<bool>(pos.satellite_used[i]));
            }
        }
            break;
        case MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN:
        {
            mavlink_gps_global_origin_t pos;
            mavlink_msg_gps_global_origin_decode(&message, &pos);
            emit homePositionChanged(uasId, pos.latitude / 10000000.0, pos.longitude / 10000000.0, pos.altitude / 1000.0);
        }
            break;
        case MAVLINK_MSG_ID_RC_CHANNELS_RAW:
        {
            mavlink_rc_channels_raw_t channels;
            mavlink_msg_rc_channels_raw_decode(&message, &channels);
            emit remoteControlRSSIChanged(channels.rssi/255.0f);
            emit remoteControlChannelRawChanged(0, channels.chan1_raw);
            emit remoteControlChannelRawChanged(1, channels.chan2_raw);
            emit remoteControlChannelRawChanged(2, channels.chan3_raw);
            emit remoteControlChannelRawChanged(3, channels.chan4_raw);
            emit remoteControlChannelRawChanged(4, channels.chan5_raw);
            emit remoteControlChannelRawChanged(5, channels.chan6_raw);
            emit remoteControlChannelRawChanged(6, channels.chan7_raw);
            emit remoteControlChannelRawChanged(7, channels.chan8_raw);
        }
            break;
        case MAVLINK_MSG_ID_RC_CHANNELS_SCALED:
        {
            mavlink_rc_channels_scaled_t channels;
            mavlink_msg_rc_channels_scaled_decode(&message, &channels);
            emit remoteControlRSSIChanged(channels.rssi/255.0f);
            emit remoteControlChannelScaledChanged(0, channels.chan1_scaled/10000.0f);
            emit remoteControlChannelScaledChanged(1, channels.chan2_scaled/10000.0f);
            emit remoteControlChannelScaledChanged(2, channels.chan3_scaled/10000.0f);
            emit remoteControlChannelScaledChanged(3, channels.chan4_scaled/10000.0f);
            emit remoteControlChannelScaledChanged(4, channels.chan5_scaled/10000.0f);
            emit remoteControlChannelScaledChanged(5, channels.chan6_scaled/10000.0f);
            emit remoteControlChannelScaledChanged(6, channels.chan7_scaled/10000.0f);
            emit remoteControlChannelScaledChanged(7, channels.chan8_scaled/10000.0f);
        }
            break;
        case MAVLINK_MSG_ID_PARAM_VALUE:
        {
            mavlink_param_value_t value;
            mavlink_msg_param_value_decode(&message, &value);
            QByteArray bytes(value.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
            // Construct a string stopping at the first NUL (0) character, else copy the whole
            // byte array (max MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN, so safe)
            QString parameterName(bytes);
            int component = message.compid;
            mavlink_param_union_t val;
            val.param_float = value.param_value;
            val.type = value.param_type;

            // Insert component if necessary
            if (!parameters.contains(component))
            {
                parameters.insert(component, new QMap<QString, QVariant>());
            }

            // Insert parameter into registry
            if (parameters.value(component)->contains(parameterName)) parameters.value(component)->remove(parameterName);

            // Insert with correct type
            // TODO: This is a hack for MAV_AUTOPILOT_ARDUPILOTMEGA until the new version of MAVLink and a fix for their param handling.
            switch (value.param_type)
            {
            case MAV_PARAM_TYPE_REAL32:
            {
                // Variant
                QVariant param;
                if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA)
                {
                    param = QVariant(val.param_float);
                }
                else
                {
                    param = QVariant(val.param_float);
                }
                parameters.value(component)->insert(parameterName, param);
                // Emit change
                emit parameterChanged(uasId, message.compid, parameterName, param);
                emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, param);
//                qDebug() << "RECEIVED PARAM:" << param;
            }
                break;
            case MAV_PARAM_TYPE_UINT8:
            {
                // Variant
                QVariant param;
                if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA)
                {
                    param = QVariant(QChar((unsigned char)val.param_float));
                }
                else
                {
                    param = QVariant(QChar((unsigned char)val.param_uint8));
                }
                parameters.value(component)->insert(parameterName, param);
                // Emit change
                emit parameterChanged(uasId, message.compid, parameterName, param);
                emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, param);
                //qDebug() << "RECEIVED PARAM:" << param;
            }
                break;
            case MAV_PARAM_TYPE_INT8:
            {
                // Variant
                QVariant param;
                if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA)
                {
                    param = QVariant(QChar((char)val.param_float));
                }
                else
                {
                    param = QVariant(QChar((char)val.param_int8));
                }
                parameters.value(component)->insert(parameterName, param);
                // Emit change
                emit parameterChanged(uasId, message.compid, parameterName, param);
                emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, param);
                //qDebug() << "RECEIVED PARAM:" << param;
            }
                break;
            case MAV_PARAM_TYPE_INT16:
            {
                // Variant
                QVariant param;
                if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA)
                {
                    param = QVariant((short)val.param_float);
                }
                else
                {
                    param = QVariant(val.param_int16);
                }
                parameters.value(component)->insert(parameterName, param);
                // Emit change
                emit parameterChanged(uasId, message.compid, parameterName, param);
                emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, param);
                //qDebug() << "RECEIVED PARAM:" << param;
            }
                break;
            case MAV_PARAM_TYPE_UINT32:
            {
                // Variant
                QVariant param;
                if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA)
                {
                    param = QVariant((unsigned int)val.param_float);
                }
                else
                {
                    param = QVariant(val.param_uint32);
                }
                parameters.value(component)->insert(parameterName, param);
                // Emit change
                emit parameterChanged(uasId, message.compid, parameterName, param);
                emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, param);
            }
                break;
            case MAV_PARAM_TYPE_INT32:
            {
                // Variant
                QVariant param;
                if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA)
                {
                    param = QVariant((int)val.param_float);
                }
                else
                {
                    param = QVariant(val.param_int32);
                }
                parameters.value(component)->insert(parameterName, param);
                // Emit change
                emit parameterChanged(uasId, message.compid, parameterName, param);
                emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, param);
//                qDebug() << "RECEIVED PARAM:" << param;