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"

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(0),
    warnVoltage(9.5f),
    warnLevelPercent(20.0f),
    currentVoltage(12.0f),
    lpVoltage(12.0f),
    batteryRemainingEstimateEnabled(false),
    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),
    latitude(0.0),
    longitude(0.0),
    altitude(0.0),
    roll(0.0),
    pitch(0.0),
    yaw(0.0),
    statusTimeout(new QTimer(this)),
    paramsOnceRequested(false),
    airframe(0),
    attitudeKnown(false),
    paramManager(NULL)
{
    color = UASInterface::getNextColor();
    setBattery(LIPOLY, 3);
    connect(statusTimeout, SIGNAL(timeout()), this, SLOT(updateState()));
    connect(this, SIGNAL(systemSpecsChanged(int)), this, SLOT(writeSettings()));
    statusTimeout->start(500);
    readSettings();
}

UAS::~UAS()
{
    writeSettings();
    delete links;
    links=NULL;
}

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();
}

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();
}

int UAS::getUASID() const
{
    return uasId;
}

void UAS::updateState()
{
    // Check if heartbeat timed out
    quint64 heartbeatInterval = QGC::groundTimeUsecs() - lastHeartbeat;
    if (heartbeatInterval > timeoutIntervalHeartbeat) {
        emit heartbeatTimeout(heartbeatInterval);
        emit heartbeatTimeout();
    }

    // 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 > (uint8_t)MAV_MODE_LOCKED && positionLock) {
            GAudioOutput::instance()->notifyNegative();
        }
    }
}

void UAS::setSelected()
{
    if (UASManager::instance()->getActiveUAS() != this) {
        UASManager::instance()->setActiveUAS(this);
        emit systemSelected(true);
    }
}

bool UAS::getSelected() const
{
    return (UASManager::instance()->getActiveUAS() == this);
}

void UAS::receiveMessageNamedValue(const mavlink_message_t& message)
{
    if (message.msgid == MAVLINK_MSG_ID_NAMED_VALUE_FLOAT) {
        mavlink_named_value_float_t val;
        mavlink_msg_named_value_float_decode(&message, &val);
        QByteArray bytes(val.name, MAVLINK_MSG_NAMED_VALUE_FLOAT_FIELD_NAME_LEN);
        emit valueChanged(this->getUASID(), QString(bytes), tr("raw"), val.value, getUnixTime());
    } else if (message.msgid == MAVLINK_MSG_ID_NAMED_VALUE_INT) {
        mavlink_named_value_int_t val;
        mavlink_msg_named_value_int_decode(&message, &val);
        QByteArray bytes(val.name, MAVLINK_MSG_NAMED_VALUE_INT_FIELD_NAME_LEN);
        emit valueChanged(this->getUASID(), QString(bytes), tr("raw"), val.value, getUnixTime());
    }
}

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();
    }
    //    else
    //    {
    //        qDebug() << __FILE__ << __LINE__ << "DID NOT ADD LINK" << link->getName() << "ALREADY IN LIST";
    //    }

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

    if (message.sysid == uasId) {
        QString uasState;
        QString stateDescription;

        switch (message.msgid) {
        case MAVLINK_MSG_ID_HEARTBEAT:
            lastHeartbeat = QGC::groundTimeUsecs();
            emit heartbeat(this);
            // Set new type if it has changed
            if (this->type != mavlink_msg_heartbeat_get_type(&message)) {
                this->type = mavlink_msg_heartbeat_get_type(&message);
                if (airframe == 0) {
                    switch (type) {
                    case MAV_FIXED_WING:
                        setAirframe(UASInterface::QGC_AIRFRAME_EASYSTAR);
                        break;
                    case MAV_QUADROTOR:
                        setAirframe(UASInterface::QGC_AIRFRAME_CHEETAH);
                        break;
                    default:
                        // Do nothing
                        break;
                    }
                }
                this->autopilot = mavlink_msg_heartbeat_get_autopilot(&message);
                emit systemTypeSet(this, type);
            }

            break;
        case MAVLINK_MSG_ID_NAMED_VALUE_FLOAT:
        case MAVLINK_MSG_ID_NAMED_VALUE_INT:
            // Receive named value message
            receiveMessageNamedValue(message);
            break;
        case MAVLINK_MSG_ID_BOOT:
            getStatusForCode((int)MAV_STATE_BOOT, uasState, stateDescription);
            emit statusChanged(this, uasState, stateDescription);
            onboardTimeOffset = 0; // Reset offset measurement
            break;
        case MAVLINK_MSG_ID_SYS_STATUS: {
            mavlink_sys_status_t state;
            mavlink_msg_sys_status_decode(&message, &state);

            // FIXME
            //qDebug() << "1 SYSTEM STATUS:" << state.status;

            QString audiostring = "System " + getUASName();
            QString stateAudio = "";
            QString modeAudio = "";
            bool statechanged = false;
            bool modechanged = false;

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

                stateAudio = " changed status to " + uasState;
            }

            if (navMode != state.nav_mode) {
                emit navModeChanged(uasId, state.nav_mode, getNavModeText(state.nav_mode));
                navMode = state.nav_mode;
            }

            emit loadChanged(this,state.load/10.0f);
            emit valueChanged(uasId, "Load", "%", ((float)state.load)/10.0f, getUnixTime());

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

                switch (state.mode) {
                case (uint8_t)MAV_MODE_LOCKED:
                    mode = "LOCKED MODE";
                    break;
                case (uint8_t)MAV_MODE_MANUAL:
                    mode = "MANUAL MODE";
                    break;

#ifdef MAVLINK_ENABLED_SLUGS
                case (uint8_t)MAV_MODE_AUTO:
                    mode = "WAYPOINT MODE";
                    break;
                case (uint8_t)MAV_MODE_GUIDED:
                    mode = "MID-L CMDS MODE";
                    break;

                case (uint8_t)MAV_MODE_TEST1:
                    mode = "PASST MODE";
                    break;
                case (uint8_t)MAV_MODE_TEST2:
                    mode = "SEL PT MODE";
                    break;
#else
                case (uint8_t)MAV_MODE_AUTO:
                    mode = "AUTO MODE";
                    break;
                case (uint8_t)MAV_MODE_GUIDED:
                    mode = "GUIDED MODE";
                    break;

                case (uint8_t)MAV_MODE_TEST1:
                    mode = "TEST1 MODE";
                    break;
                case (uint8_t)MAV_MODE_TEST2:
                    mode = "TEST2 MODE";
                    break;
#endif
                case (uint8_t)MAV_MODE_READY:
                    mode = "READY MODE";
                    break;

                case (uint8_t)MAV_MODE_TEST3:
                    mode = "TEST3 MODE";
                    break;

                case (uint8_t)MAV_MODE_RC_TRAINING:
                    mode = "RC TRAINING MODE";
                    break;
                default:
                    mode = "UNINIT MODE";
                    break;
                }

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

                //qDebug() << "2 SYSTEM MODE:" << mode;

                modeAudio = " is now in " + mode;
            }
            currentVoltage = state.vbat/1000.0f;
            lpVoltage = filterVoltage(currentVoltage);
            if (startVoltage == 0) startVoltage = currentVoltage;
            timeRemaining = calculateTimeRemaining();
            if (!batteryRemainingEstimateEnabled) {
                chargeLevel = state.battery_remaining/10.0f;
            }
            //qDebug() << "Voltage: " << currentVoltage << " Chargelevel: " << getChargeLevel() << " Time remaining " << timeRemaining;
            emit batteryChanged(this, lpVoltage, getChargeLevel(), timeRemaining);
            emit voltageChanged(message.sysid, state.vbat/1000.0f);

            // LOW BATTERY ALARM
            if (lpVoltage < warnVoltage) {
                startLowBattAlarm();
            } else {
                stopLowBattAlarm();
            }

            // COMMUNICATIONS DROP RATE
            emit dropRateChanged(this->getUASID(), state.packet_drop/1000.0f);


            //add for development
            //emit remoteControlRSSIChanged(state.packet_drop/1000.0f);

            //float en = state.packet_drop/1000.0f;
            //emit remoteControlChannelRawChanged(0, en);//MAVLINK_MSG_ID_RC_CHANNELS_RAW
            //emit remoteControlChannelScaledChanged(0, en/100.0f);//MAVLINK_MSG_ID_RC_CHANNELS_SCALED


            //qDebug() << __FILE__ << __LINE__ << "RCV LOSS: " << state.packet_drop;

            // AUDIO
            if (modechanged && statechanged) {
                // Output both messages
                audiostring += modeAudio + " and " + stateAudio;
            } else {
                // Output the one message
                audiostring += modeAudio + stateAudio;
            }
            if ((int)state.status == (int)MAV_STATE_CRITICAL || state.status == (int)MAV_STATE_EMERGENCY) {
                GAudioOutput::instance()->startEmergency();
            } else if (modechanged || statechanged) {
                GAudioOutput::instance()->stopEmergency();
                GAudioOutput::instance()->say(audiostring);
            }

            if (state.status == MAV_STATE_POWEROFF) {
                emit systemRemoved(this);
                emit systemRemoved();
            }
        }
        break;

#ifdef MAVLINK_ENABLED_PIXHAWK
        case MAVLINK_MSG_ID_CONTROL_STATUS: {
            mavlink_control_status_t status;
            mavlink_msg_control_status_decode(&message, &status);
            // Emit control status vector
            emit attitudeControlEnabled(static_cast<bool>(status.control_att));
            emit positionXYControlEnabled(static_cast<bool>(status.control_pos_xy));
            emit positionZControlEnabled(static_cast<bool>(status.control_pos_z));
            emit positionYawControlEnabled(static_cast<bool>(status.control_pos_yaw));

            // Emit localization status vector
            emit localizationChanged(this, status.position_fix);
            emit visionLocalizationChanged(this, status.vision_fix);
            emit gpsLocalizationChanged(this, status.gps_fix);
        }
        break;
#endif // PIXHAWK
        case MAVLINK_MSG_ID_RAW_IMU: {
            mavlink_raw_imu_t raw;
            mavlink_msg_raw_imu_decode(&message, &raw);
            quint64 time = getUnixTime(raw.usec);

            emit valueChanged(uasId, "accel x", "raw", static_cast<double>(raw.xacc), time);
            emit valueChanged(uasId, "accel y", "raw", static_cast<double>(raw.yacc), time);
            emit valueChanged(uasId, "accel z", "raw", static_cast<double>(raw.zacc), time);
            emit valueChanged(uasId, "gyro roll", "raw", static_cast<double>(raw.xgyro), time);
            emit valueChanged(uasId, "gyro pitch", "raw", static_cast<double>(raw.ygyro), time);
            emit valueChanged(uasId, "gyro yaw", "raw", static_cast<double>(raw.zgyro), time);
            emit valueChanged(uasId, "mag x", "raw", static_cast<double>(raw.xmag), time);
            emit valueChanged(uasId, "mag y", "raw", static_cast<double>(raw.ymag), time);
            emit valueChanged(uasId, "mag z", "raw", static_cast<double>(raw.zmag), time);
        }
        break;
        case MAVLINK_MSG_ID_SCALED_IMU: {
            mavlink_scaled_imu_t scaled;
            mavlink_msg_scaled_imu_decode(&message, &scaled);
            quint64 time = getUnixTime(scaled.usec);

            emit valueChanged(uasId, "accel x", "g", scaled.xacc/1000.0f, time);
            emit valueChanged(uasId, "accel y", "g", scaled.yacc/1000.0f, time);
            emit valueChanged(uasId, "accel z", "g", scaled.zacc/1000.0f, time);
            emit valueChanged(uasId, "gyro roll", "rad/s", scaled.xgyro/1000.0f, time);
            emit valueChanged(uasId, "gyro pitch", "rad/s", scaled.ygyro/1000.0f, time);
            emit valueChanged(uasId, "gyro yaw", "rad/s", scaled.zgyro/1000.0f, time);
            emit valueChanged(uasId, "mag x", "tesla", scaled.xmag/1000.0f, time);
            emit valueChanged(uasId, "mag y", "tesla", scaled.ymag/1000.0f, time);
            emit valueChanged(uasId, "mag z", "tesla", scaled.zmag/1000.0f, time);
        }
        break;
        case MAVLINK_MSG_ID_ATTITUDE:
            //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_attitude_t attitude;
            mavlink_msg_attitude_decode(&message, &attitude);
            quint64 time = getUnixTime(attitude.usec);
            roll = QGC::limitAngleToPMPIf(attitude.roll);
            pitch = QGC::limitAngleToPMPIf(attitude.pitch);
            yaw = QGC::limitAngleToPMPIf(attitude.yaw);
            emit valueChanged(uasId, "roll", "rad", roll, time);
            emit valueChanged(uasId, "pitch", "rad", pitch, time);
            emit valueChanged(uasId, "yaw", "rad", yaw, time);
            emit valueChanged(uasId, "rollspeed", "rad/s", attitude.rollspeed, time);
            emit valueChanged(uasId, "pitchspeed", "rad/s", attitude.pitchspeed, time);
            emit valueChanged(uasId, "yawspeed", "rad/s", attitude.yawspeed, time);

            // Emit in angles

            // Convert yaw angle to compass value
            // in 0 - 360 deg range
            float compass = (yaw/M_PI)*180.0+360.0f;
            while (compass > 360.0f) {
                compass -= 360.0f;
            }

            attitudeKnown = true;

            emit valueChanged(uasId, "roll deg", "deg", (roll/M_PI)*180.0, time);
            emit valueChanged(uasId, "pitch deg", "deg", (pitch/M_PI)*180.0, time);
            emit valueChanged(uasId, "heading deg", "deg", compass, time);
            emit valueChanged(uasId, "rollspeed d/s", "deg/s", (attitude.rollspeed/M_PI)*180.0, time);
            emit valueChanged(uasId, "pitchspeed d/s", "deg/s", (attitude.pitchspeed/M_PI)*180.0, time);
            emit valueChanged(uasId, "yawspeed d/s", "deg/s", (attitude.yawspeed/M_PI)*180.0, time);

            emit attitudeChanged(this, roll, pitch, yaw, time);
            emit attitudeSpeedChanged(uasId, attitude.rollspeed, attitude.pitchspeed, attitude.yawspeed, time);
        }
        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 valueChanged(uasId, "airspeed", "m/s", hud.airspeed, time);
            emit valueChanged(uasId, "groundspeed", "m/s", hud.groundspeed, time);
            emit valueChanged(uasId, "altitude", "m", hud.alt, time);
            emit valueChanged(uasId, "heading", "deg", hud.heading, time);
            emit valueChanged(uasId, "climbrate", "m/s", hud.climb, time);
            emit valueChanged(uasId, "throttle", "%", hud.throttle, time);
            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);
            //yaw = (hud.heading-180.0f/360.0f)*M_PI;
            //emit attitudeChanged(this, roll, pitch, yaw, getUnixTime());
            emit speedChanged(this, hud.airspeed, 0.0f, hud.climb, getUnixTime());
        }
        break;
        case MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT: {
            mavlink_nav_controller_output_t nav;
            mavlink_msg_nav_controller_output_decode(&message, &nav);
            quint64 time = getUnixTime();
            // Update UI
            emit valueChanged(uasId, "nav roll", "deg", nav.nav_roll, time);
            emit valueChanged(uasId, "nav pitch", "deg", nav.nav_pitch, time);
            emit valueChanged(uasId, "nav bearing", "deg", nav.nav_bearing, time);
            emit valueChanged(uasId, "target bearing", "deg", nav.target_bearing, time);
            emit valueChanged(uasId, "wp dist", "m", nav.wp_dist, time);
            emit valueChanged(uasId, "alt err", "m", nav.alt_error, time);
            emit valueChanged(uasId, "airspeed err", "m/s", nav.alt_error, time);
            emit valueChanged(uasId, "xtrack err", "m", nav.xtrack_error, time);
        }
        break;
        case MAVLINK_MSG_ID_LOCAL_POSITION:
            //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_t pos;
            mavlink_msg_local_position_decode(&message, &pos);
            quint64 time = getUnixTime(pos.usec);
            localX = pos.x;
            localY = pos.y;
            localZ = pos.z;
            emit valueChanged(uasId, "x", "m", pos.x, time);
            emit valueChanged(uasId, "y", "m", pos.y, time);
            emit valueChanged(uasId, "z", "m", pos.z, time);
            emit valueChanged(uasId, "x speed", "m/s", pos.vx, time);
            emit valueChanged(uasId, "y speed", "m/s", pos.vy, time);
            emit valueChanged(uasId, "z speed", "m/s", pos.vz, time);
            emit localPositionChanged(this, pos.x, pos.y, pos.z, time);
            emit speedChanged(this, pos.vx, pos.vy, pos.vz, time);

            //                qDebug()<<"Local Position = "<<pos.x<<" - "<<pos.y<<" - "<<pos.z;
            //                qDebug()<<"Speed Local Position = "<<pos.vx<<" - "<<pos.vy<<" - "<<pos.vz;

            //emit attitudeChanged(this, pos.roll, pos.pitch, pos.yaw, time);
            // Set internal state
            if (!positionLock) {
                // If position was not locked before, notify positive
                GAudioOutput::instance()->notifyPositive();
            }
            positionLock = true;
        }
        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;
            longitude = pos.lon/(double)1E7;
            altitude = pos.alt/1000.0;
            speedX = pos.vx/100.0;
            speedY = pos.vy/100.0;
            speedZ = pos.vz/100.0;
            emit valueChanged(uasId, "latitude", "deg", latitude, time);
            emit valueChanged(uasId, "longitude", "deg", longitude, time);
            emit valueChanged(uasId, "altitude", "m", altitude, time);
            double totalSpeed = sqrt(speedX*speedX + speedY*speedY + speedZ*speedZ);
            emit valueChanged(uasId, "gps speed", "m/s", totalSpeed, time);
            emit globalPositionChanged(this, latitude, longitude, altitude, 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;
            //TODO fix this hack for forwarding of global position for patch antenna tracking
            forwardMessage(message);
        }
        break;
        case MAVLINK_MSG_ID_GLOBAL_POSITION: {
            mavlink_global_position_t pos;
            mavlink_msg_global_position_decode(&message, &pos);
            quint64 time = getUnixTime();
            latitude = pos.lat;
            longitude = pos.lon;
            altitude = pos.alt;
            speedX = pos.vx;
            speedY = pos.vy;
            speedZ = pos.vz;
            emit valueChanged(uasId, "latitude", "deg", latitude, time);
            emit valueChanged(uasId, "longitude", "deg", longitude, time);
            emit valueChanged(uasId, "altitude", "m", altitude, time);
            double totalSpeed = sqrt(speedX*speedX + speedY*speedY + speedZ*speedZ);
            emit valueChanged(uasId, "gps speed", "m/s", totalSpeed, time);
            emit globalPositionChanged(this, latitude, longitude, altitude, 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;
            //TODO fix this hack for forwarding of global position for patch antenna tracking
            forwardMessage(message);
        }
        break;
        case MAVLINK_MSG_ID_GPS_RAW:
            //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_gps_raw_t pos;
            mavlink_msg_gps_raw_decode(&message, &pos);

            // SANITY CHECK
            // only accept values in a realistic range
            // quint64 time = getUnixTime(pos.usec);
            quint64 time = getUnixTime();

            emit valueChanged(uasId, "latitude", "deg", pos.lat, time);
            emit valueChanged(uasId, "longitude", "deg", pos.lon, time);

            if (pos.fix_type > 0) {
                emit globalPositionChanged(this, pos.lat, pos.lon, pos.alt, time);
                emit valueChanged(uasId, "gps speed", "m/s", pos.v, time);
                latitude = pos.lat;
                longitude = pos.lon;
                altitude = pos.alt;
                positionLock = true;

                // Check for NaN
                int alt = pos.alt;
                if (alt != alt) {
                    alt = 0;
                    emit textMessageReceived(uasId, message.compid, 255, "GCS ERROR: RECEIVED NaN FOR ALTITUDE");
                }
                emit valueChanged(uasId, "altitude", "m", pos.alt, time);
                // Smaller than threshold and not NaN
                if (pos.v < 1000000 && pos.v == pos.v) {
                    emit valueChanged(uasId, "speed", "m/s", pos.v, time);
                    //qDebug() << "GOT GPS RAW";
                    // emit speedChanged(this, (double)pos.v, 0.0, 0.0, time);
                } else {
                    emit textMessageReceived(uasId, message.compid, 255, QString("GCS ERROR: RECEIVED INVALID SPEED OF %1 m/s").arg(pos.v));
                }
            }
        }
        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.usec);
            quint64 time = getUnixTime();

            emit valueChanged(uasId, "latitude", "deg", pos.lat/(double)1E7, time);
            emit valueChanged(uasId, "longitude", "deg", pos.lon/(double)1E7, time);

            if (pos.fix_type > 0) {
                emit globalPositionChanged(this, pos.lat/(double)1E7, pos.lon/(double)1E7, pos.alt/1000.0, time);
                emit valueChanged(uasId, "gps speed", "m/s", pos.v, time);
                latitude = pos.lat/(double)1E7;
                longitude = pos.lon/(double)1E7;
                altitude = pos.alt/1000.0;
                positionLock = true;

                // Check for NaN
                int alt = pos.alt;
                if (alt != alt) {
                    alt = 0;
                    emit textMessageReceived(uasId, message.compid, 255, "GCS ERROR: RECEIVED NaN FOR ALTITUDE");
                }
                emit valueChanged(uasId, "altitude", "m", pos.alt/(double)1E3, time);
                // Smaller than threshold and not NaN
                if (pos.v < 1000000 && pos.v == pos.v) {
                    emit valueChanged(uasId, "speed", "m/s", pos.v, time);
                    //qDebug() << "GOT GPS RAW";
                    // emit speedChanged(this, (double)pos.v, 0.0, 0.0, time);
                } else {
                    emit textMessageReceived(uasId, message.compid, 255, QString("GCS ERROR: RECEIVED INVALID SPEED OF %1 m/s").arg(pos.v));
                }
            }
        }
        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_LOCAL_ORIGIN_SET: {
            mavlink_gps_local_origin_set_t pos;
            mavlink_msg_gps_local_origin_set_decode(&message, &pos);
            // FIXME Emit to other components
        }
        break;
        case MAVLINK_MSG_ID_RAW_PRESSURE: {
            mavlink_raw_pressure_t pressure;
            mavlink_msg_raw_pressure_decode(&message, &pressure);
            quint64 time = this->getUnixTime(pressure.usec);
            emit valueChanged(uasId, "abs pressure", "raw", pressure.press_abs, time);
            emit valueChanged(uasId, "diff pressure 1", "raw", pressure.press_diff1, time);
            emit valueChanged(uasId, "diff pressure 2", "raw", pressure.press_diff2, time);
            emit valueChanged(uasId, "temperature", "raw", pressure.temperature, time);
        }
        break;

        case MAVLINK_MSG_ID_SCALED_PRESSURE: {
            mavlink_scaled_pressure_t pressure;
            mavlink_msg_scaled_pressure_decode(&message, &pressure);
            quint64 time = this->getUnixTime(pressure.usec);
            emit valueChanged(uasId, "abs pressure", "hPa", pressure.press_abs, time);
            emit valueChanged(uasId, "diff pressure", "hPa", pressure.press_diff, time);
            emit valueChanged(uasId, "temperature", "C", pressure.temperature/100.0, time);
        }
        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((char*)value.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
            QString parameterName = QString(bytes);
            int component = message.compid;
            float val = value.param_value;

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

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

            // Emit change
            emit parameterChanged(uasId, message.compid, parameterName, val);
            emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, val);
        }
        break;
        case MAVLINK_MSG_ID_ACTION_ACK:
            mavlink_action_ack_t ack;
            mavlink_msg_action_ack_decode(&message, &ack);
            if (ack.result == 1) {
                emit textMessageReceived(uasId, message.compid, 0, tr("SUCCESS: Executed action: %1").arg(ack.action));
            } else {
                emit textMessageReceived(uasId, message.compid, 0, tr("FAILURE: Rejected action: %1").arg(ack.action));
            }
            break;
        case MAVLINK_MSG_ID_DEBUG:
            emit valueChanged(uasId, QString("debug ") + QString::number(mavlink_msg_debug_get_ind(&message)), "raw", mavlink_msg_debug_get_value(&message), MG::TIME::getGroundTimeNow());
            break;
        case MAVLINK_MSG_ID_ATTITUDE_CONTROLLER_OUTPUT: {
            mavlink_attitude_controller_output_t out;
            mavlink_msg_attitude_controller_output_decode(&message, &out);
            quint64 time = MG::TIME::getGroundTimeNowUsecs();
            emit attitudeThrustSetPointChanged(this, out.roll/127.0f, out.pitch/127.0f, out.yaw/127.0f, (uint8_t)out.thrust, time);
            emit valueChanged(uasId, "att control roll", "raw", out.roll, time/1000.0f);
            emit valueChanged(uasId, "att control pitch", "raw", out.pitch, time/1000.0f);
            emit valueChanged(uasId, "att control yaw", "raw", out.yaw, time/1000.0f);
        }
        break;
        case MAVLINK_MSG_ID_POSITION_CONTROLLER_OUTPUT: {
            mavlink_position_controller_output_t out;
            mavlink_msg_position_controller_output_decode(&message, &out);
            quint64 time = MG::TIME::getGroundTimeNow();
            //emit positionSetPointsChanged(uasId, out.x/127.0f, out.y/127.0f, out.z/127.0f, out.yaw, time);
            emit valueChanged(uasId, "pos control x", "raw", out.x, time);
            emit valueChanged(uasId, "pos control y", "raw", out.y, time);
            emit valueChanged(uasId, "pos control z", "raw", out.z, time);
        }
        break;
        case MAVLINK_MSG_ID_WAYPOINT_COUNT: {
            mavlink_waypoint_count_t wpc;
            mavlink_msg_waypoint_count_decode(&message, &wpc);
            if (wpc.target_system == mavlink->getSystemId() && wpc.target_component == mavlink->getComponentId()) {
                waypointManager.handleWaypointCount(message.sysid, message.compid, wpc.count);
            }
        }
        break;

        case MAVLINK_MSG_ID_WAYPOINT: {
            mavlink_waypoint_t wp;
            mavlink_msg_waypoint_decode(&message, &wp);
            //qDebug() << "got waypoint (" << wp.seq << ") from ID " << message.sysid << " x=" << wp.x << " y=" << wp.y << " z=" << wp.z;
            if(wp.target_system == mavlink->getSystemId() && wp.target_component == mavlink->getComponentId()) {
                waypointManager.handleWaypoint(message.sysid, message.compid, &wp);
            }
        }
        break;

        case MAVLINK_MSG_ID_WAYPOINT_ACK: {
            mavlink_waypoint_ack_t wpa;
            mavlink_msg_waypoint_ack_decode(&message, &wpa);
            if(wpa.target_system == mavlink->getSystemId() && wpa.target_component == mavlink->getComponentId()) {
                waypointManager.handleWaypointAck(message.sysid, message.compid, &wpa);
            }
        }
        break;

        case MAVLINK_MSG_ID_WAYPOINT_REQUEST: {
            mavlink_waypoint_request_t wpr;
            mavlink_msg_waypoint_request_decode(&message, &wpr);
            if(wpr.target_system == mavlink->getSystemId() && wpr.target_component == mavlink->getComponentId()) {
                waypointManager.handleWaypointRequest(message.sysid, message.compid, &wpr);
            }
        }
        break;

        case MAVLINK_MSG_ID_WAYPOINT_REACHED: {
            mavlink_waypoint_reached_t wpr;
            mavlink_msg_waypoint_reached_decode(&message, &wpr);
            waypointManager.handleWaypointReached(message.sysid, message.compid, &wpr);
            QString text = QString("System %1 reached waypoint %2").arg(getUASName()).arg(wpr.seq);
            GAudioOutput::instance()->say(text);
            emit textMessageReceived(message.sysid, message.compid, 0, text);
        }
        break;

        case MAVLINK_MSG_ID_WAYPOINT_CURRENT: {
            mavlink_waypoint_current_t wpc;
            mavlink_msg_waypoint_current_decode(&message, &wpc);
            waypointManager.handleWaypointCurrent(message.sysid, message.compid, &wpc);
        }
        break;

        case MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT: {
            mavlink_local_position_setpoint_t p;
            mavlink_msg_local_position_setpoint_decode(&message, &p);
            emit positionSetPointsChanged(uasId, p.x, p.y, p.z, p.yaw, QGC::groundTimeUsecs());
        }
        break;
        case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW: {
            mavlink_servo_output_raw_t servos;
            mavlink_msg_servo_output_raw_decode(&message, &servos);
            quint64 time = getUnixTime();
            emit valueChanged(uasId, "servo #1", "us", servos.servo1_raw, time);
            emit valueChanged(uasId, "servo #2", "us", servos.servo2_raw, time);
            emit valueChanged(uasId, "servo #3", "us", servos.servo3_raw, time);
            emit valueChanged(uasId, "servo #4", "us", servos.servo4_raw, time);
            emit valueChanged(uasId, "servo #5", "us", servos.servo5_raw, time);
            emit valueChanged(uasId, "servo #6", "us", servos.servo6_raw, time);
            emit valueChanged(uasId, "servo #7", "us", servos.servo7_raw, time);
            emit valueChanged(uasId, "servo #8", "us", servos.servo8_raw, time);
        }
        break;
        case MAVLINK_MSG_ID_STATUSTEXT: {
            QByteArray b;
            b.resize(MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN);
            mavlink_msg_statustext_get_text(&message, (int8_t*)b.data());
            //b.append('\0');
            QString text = QString(b);
            int severity = mavlink_msg_statustext_get_severity(&message);
            //qDebug() << "RECEIVED STATUS:" << text;false
            //emit statusTextReceived(severity, text);
            emit textMessageReceived(uasId, message.compid, severity, text);
        }
        break;
#ifdef MAVLINK_ENABLED_PIXHAWK
        case MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE: {
            qDebug() << "RECIEVED ACK TO GET IMAGE";
            mavlink_data_transmission_handshake_t p;
            mavlink_msg_data_transmission_handshake_decode(&message, &p);
            imageSize = p.size;
            imagePackets = p.packets;
            imagePayload = p.payload;
            imageQuality = p.jpg_quality;
            imageStart = QGC::groundTimeMilliseconds();
        }
        break;

        case MAVLINK_MSG_ID_ENCAPSULATED_DATA: {
            mavlink_encapsulated_data_t img;
            mavlink_msg_encapsulated_data_decode(&message, &img);
            int seq = img.seqnr;
            int pos = seq * imagePayload;

            for (int i = 0; i < imagePayload; ++i) {
                if (pos <= imageSize) {
                    imageRecBuffer[pos] = img.data[i];
                }
                ++pos;
            }

            ++imagePacketsArrived;

            // emit signal if all packets arrived
            if ((imagePacketsArrived == imagePackets)) {
                image.loadFromData(imageRecBuffer);
                emit imageReady(this);
                // Restart statemachine
                imagePacketsArrived = 0;

                //this->requestImage();
                //qDebug() << "SENDING REQUEST TO GET NEW IMAGE FROM SYSTEM" << uasId;
            }
        }
        break;
#endif
        case MAVLINK_MSG_ID_DEBUG_VECT: {
            mavlink_debug_vect_t vect;
            mavlink_msg_debug_vect_decode(&message, &vect);
            QString str((const char*)vect.name);
            quint64 time = getUnixTime(vect.usec);
            emit valueChanged(uasId, str+".x", "raw", vect.x, time);
            emit valueChanged(uasId, str+".y", "raw", vect.y, time);
            emit valueChanged(uasId, str+".z", "raw", vect.z, time);
        }
        break;
        //#ifdef MAVLINK_ENABLED_PIXHAWK
        //            case MAVLINK_MSG_ID_POINT_OF_INTEREST:
        //            {
        //                mavlink_point_of_interest_t poi;
        //                mavlink_msg_point_of_interest_decode(&message, &poi);
        //                emit poiFound(this, poi.type, poi.color, QString((QChar*)poi.name, MAVLINK_MSG_POINT_OF_INTEREST_FIELD_NAME_LEN), poi.x, poi.y, poi.z);
        //            }
        //            break;
        //            case MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION:
        //            {
        //                mavlink_point_of_interest_connection_t poi;
        //                mavlink_msg_point_of_interest_connection_decode(&message, &poi);
        //                emit poiConnectionFound(this, poi.type, poi.color, QString((QChar*)poi.name, MAVLINK_MSG_POINT_OF_INTEREST_CONNECTION_FIELD_NAME_LEN), poi.x1, poi.y1, poi.z1, poi.x2, poi.y2, poi.z2);
        //            }
        //            break;
        //#endif
#ifdef MAVLINK_ENABLED_UALBERTA
        case MAVLINK_MSG_ID_NAV_FILTER_BIAS: {
            mavlink_nav_filter_bias_t bias;
            mavlink_msg_nav_filter_bias_decode(&message, &bias);
            quint64 time = getUnixTime();
            emit valueChanged(uasId, "b_f[0]", "raw", bias.accel_0, time);
            emit valueChanged(uasId, "b_f[1]", "raw", bias.accel_1, time);
            emit valueChanged(uasId, "b_f[2]", "raw", bias.accel_2, time);
            emit valueChanged(uasId, "b_w[0]", "raw", bias.gyro_0, time);
            emit valueChanged(uasId, "b_w[1]", "raw", bias.gyro_1, time);
            emit valueChanged(uasId, "b_w[2]", "raw", bias.gyro_2, time);
        }
        break;
        case MAVLINK_MSG_ID_RADIO_CALIBRATION: {
            mavlink_radio_calibration_t radioMsg;
            mavlink_msg_radio_calibration_decode(&message, &radioMsg);
            QVector<float> aileron;
            QVector<float> elevator;
            QVector<float> rudder;
            QVector<float> gyro;
            QVector<float> pitch;
            QVector<float> throttle;

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

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

#endif
        // Messages to ignore
        case MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT_SET:
            break;
        default: {
            if (!unknownPackets.contains(message.msgid)) {
                unknownPackets.append(message.msgid);
                QString errString = tr("UNABLE TO DECODE MESSAGE NUMBER %1").arg(message.msgid);
                GAudioOutput::instance()->say(errString+tr(", please check console for details."));
                emit textMessageReceived(uasId, message.compid, 255, errString);
                std::cout << "Unable to decode message from system " << std::dec << static_cast<int>(message.sysid) << " with message id:" << static_cast<int>(message.msgid) << std::endl;
                //qDebug() << std::cerr << "Unable to decode message from system " << std::dec << static_cast<int>(message.acid) << " with message id:" << static_cast<int>(message.msgid) << std::endl;
            }
        }
        break;
        }
    }
}

void UAS::setHomePosition(double lat, double lon, double alt)
{