Vehicle.cc

/****************************************************************************
 *
 * (c) 2009-2020 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 <QTime>
#include <QDateTime>
#include <QLocale>
#include <QQuaternion>

#include <Eigen/Eigen>

#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 "MissionCommandTree.h"
#include "QGroundControlQmlGlobal.h"
#include "SettingsManager.h"
#include "QGCQGeoCoordinate.h"
#include "QGCCorePlugin.h"
#include "QGCOptions.h"
#include "ADSBVehicleManager.h"
#include "QGCCameraManager.h"
#include "VideoReceiver.h"
#include "VideoManager.h"
#include "VideoSettings.h"
#include "PositionManager.h"
#include "VehicleObjectAvoidance.h"
#include "TrajectoryPoints.h"
#include "QGCGeo.h"

#if defined(QGC_AIRMAP_ENABLED)
#include "AirspaceVehicleManager.h"
#endif

QGC_LOGGING_CATEGORY(VehicleLog, "VehicleLog")

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

const QString guided_mode_not_supported_by_vehicle = QObject::tr("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::_rollRateFactName =             "rollRate";
const char* Vehicle::_pitchRateFactName =           "pitchRate";
const char* Vehicle::_yawRateFactName =             "yawRate";
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::_distanceToHomeFactName =      "distanceToHome";
const char* Vehicle::_headingToNextWPFactName =     "headingToNextWP";
const char* Vehicle::_headingToHomeFactName =       "headingToHome";
const char* Vehicle::_distanceToGCSFactName =       "distanceToGCS";
const char* Vehicle::_hobbsFactName =               "hobbs";
const char* Vehicle::_throttlePctFactName =         "throttlePct";

const char* Vehicle::_gpsFactGroupName =                "gps";
const char* Vehicle::_battery1FactGroupName =           "battery";
const char* Vehicle::_battery2FactGroupName =           "battery2";
const char* Vehicle::_windFactGroupName =               "wind";
const char* Vehicle::_vibrationFactGroupName =          "vibration";
const char* Vehicle::_temperatureFactGroupName =        "temperature";
const char* Vehicle::_clockFactGroupName =              "clock";
const char* Vehicle::_distanceSensorFactGroupName =     "distanceSensor";
const char* Vehicle::_estimatorStatusFactGroupName =    "estimatorStatus";

// Standard connected vehicle
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(nullptr)
    , _firmwarePluginInstanceData(nullptr)
    , _autopilotPlugin(nullptr)
    , _mavlink(nullptr)
    , _soloFirmware(false)
    , _toolbox(qgcApp()->toolbox())
    , _settingsManager(_toolbox->settingsManager())
    , _joystickMode(JoystickModeRC)
    , _joystickEnabled(false)
    , _uas(nullptr)
    , _mav(nullptr)
    , _currentMessageCount(0)
    , _messageCount(0)
    , _currentErrorCount(0)
    , _currentWarningCount(0)
    , _currentNormalCount(0)
    , _currentMessageType(MessageNone)
    , _updateCount(0)
    , _rcRSSI(255)
    , _rcRSSIstore(255.)
    , _autoDisconnect(false)
    , _flying(false)
    , _landing(false)
    , _vtolInFwdFlight(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)
    , _mavlinkProtocolRequestComplete(false)
    , _maxProtoVersion(0)
    , _vehicleCapabilitiesKnown(false)
    , _capabilityBits(0)
    , _highLatencyLink(false)
    , _receivingAttitudeQuaternion(false)
    , _cameras(nullptr)
    , _connectionLost(false)
    , _connectionLostEnabled(true)
    , _initialPlanRequestComplete(false)
    , _missionManager(nullptr)
    , _missionManagerInitialRequestSent(false)
    , _geoFenceManager(nullptr)
    , _geoFenceManagerInitialRequestSent(false)
    , _rallyPointManager(nullptr)
    , _rallyPointManagerInitialRequestSent(false)
#if defined(QGC_AIRMAP_ENABLED)
    , _airspaceVehicleManager(nullptr)
#endif
    , _armed(false)
    , _base_mode(0)
    , _custom_mode(0)
    , _nextSendMessageMultipleIndex(0)
    , _trajectoryPoints(new TrajectoryPoints(this, this))
    , _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)
    , _uid(0)
    , _lastAnnouncedLowBatteryPercent(100)
    , _priorityLinkCommanded(false)
    , _orbitActive(false)
    , _pidTuningTelemetryMode(false)
    , _pidTuningWaitingForRates(false)
    , _rollFact             (0, _rollFactName,              FactMetaData::valueTypeDouble)
    , _pitchFact            (0, _pitchFactName,             FactMetaData::valueTypeDouble)
    , _headingFact          (0, _headingFactName,           FactMetaData::valueTypeDouble)
    , _rollRateFact         (0, _rollRateFactName,          FactMetaData::valueTypeDouble)
    , _pitchRateFact        (0, _pitchRateFactName,         FactMetaData::valueTypeDouble)
    , _yawRateFact          (0, _yawRateFactName,           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)
    , _distanceToHomeFact   (0, _distanceToHomeFactName,    FactMetaData::valueTypeDouble)
    , _headingToNextWPFact  (0, _headingToNextWPFactName,   FactMetaData::valueTypeDouble)
    , _headingToHomeFact    (0, _headingToHomeFactName,     FactMetaData::valueTypeDouble)
    , _distanceToGCSFact    (0, _distanceToGCSFactName,     FactMetaData::valueTypeDouble)
    , _hobbsFact            (0, _hobbsFactName,             FactMetaData::valueTypeString)
    , _throttlePctFact      (0, _throttlePctFactName,       FactMetaData::valueTypeUint16)
    , _gpsFactGroup(this)
    , _battery1FactGroup(this)
    , _battery2FactGroup(this)
    , _windFactGroup(this)
    , _vibrationFactGroup(this)
    , _temperatureFactGroup(this)
    , _clockFactGroup(this)
    , _distanceSensorFactGroup(this)
    , _estimatorStatusFactGroup(this)
{
    connect(_joystickManager, &JoystickManager::activeJoystickChanged, this, &Vehicle::_loadSettings);
    connect(qgcApp()->toolbox()->multiVehicleManager(), &MultiVehicleManager::activeVehicleAvailableChanged, this, &Vehicle::_loadSettings);

    _mavlink = _toolbox->mavlinkProtocol();
    qCDebug(VehicleLog) << "Link started with Mavlink " << (_mavlink->getCurrentVersion() >= 200 ? "V2" : "V1");

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

    _addLink(link);

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

    connect(_toolbox->multiVehicleManager(), &MultiVehicleManager::parameterReadyVehicleAvailableChanged, this, &Vehicle::_vehicleParamLoaded);

    _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);

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

    // Send MAV_CMD ack timer
    _mavCommandAckTimer.setSingleShot(true);
    _mavCommandAckTimer.setInterval(_highLatencyLink ? _mavCommandAckTimeoutMSecsHighLatency : _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);

    if (_highLatencyLink || link->isPX4Flow()) {
        // These links don't request information
        _setMaxProtoVersion(100);
        _setCapabilities(0);
        _initialPlanRequestComplete = true;
        _missionManagerInitialRequestSent = true;
        _geoFenceManagerInitialRequestSent = true;
        _rallyPointManagerInitialRequestSent = true;
    } else {
        sendMavCommand(MAV_COMP_ID_ALL,
                       MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES,
                       false,                                   // No error shown if fails
                       1);                                      // Request firmware version
        sendMavCommand(MAV_COMP_ID_ALL,
                       MAV_CMD_REQUEST_PROTOCOL_VERSION,
                       false,                                   // No error shown if fails
                       1);                                      // Request protocol version
    }

    _firmwarePlugin->initializeVehicle(this);
    for(auto& factName: factNames()) {
        _firmwarePlugin->adjustMetaData(vehicleType, getFact(factName)->metaData());
    }

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

    connect(&_orbitTelemetryTimer, &QTimer::timeout, this, &Vehicle::_orbitTelemetryTimeout);

    // Create camera manager instance
    _cameras = _firmwarePlugin->createCameraManager(this);
    emit dynamicCamerasChanged();

    // Start csv logger
    connect(&_csvLogTimer, &QTimer::timeout, this, &Vehicle::_writeCsvLine);
    _csvLogTimer.start(1000);
    _lastBatteryAnnouncement.start();
}

// 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(nullptr)
    , _firmwarePluginInstanceData(nullptr)
    , _autopilotPlugin(nullptr)
    , _mavlink(nullptr)
    , _soloFirmware(false)
    , _toolbox(qgcApp()->toolbox())
    , _settingsManager(_toolbox->settingsManager())
    , _joystickMode(JoystickModeRC)
    , _joystickEnabled(false)
    , _uas(nullptr)
    , _mav(nullptr)
    , _currentMessageCount(0)
    , _messageCount(0)
    , _currentErrorCount(0)
    , _currentWarningCount(0)
    , _currentNormalCount(0)
    , _currentMessageType(MessageNone)
    , _updateCount(0)
    , _rcRSSI(255)
    , _rcRSSIstore(255.)
    , _autoDisconnect(false)
    , _flying(false)
    , _landing(false)
    , _vtolInFwdFlight(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())
    , _mavlinkProtocolRequestComplete(true)
    , _maxProtoVersion(200)
    , _vehicleCapabilitiesKnown(true)
    , _capabilityBits(MAV_PROTOCOL_CAPABILITY_MISSION_FENCE | MAV_PROTOCOL_CAPABILITY_MISSION_RALLY)
    , _highLatencyLink(false)
    , _receivingAttitudeQuaternion(false)
    , _cameras(nullptr)
    , _connectionLost(false)
    , _connectionLostEnabled(true)
    , _initialPlanRequestComplete(false)
    , _missionManager(nullptr)
    , _missionManagerInitialRequestSent(false)
    , _geoFenceManager(nullptr)
    , _geoFenceManagerInitialRequestSent(false)
    , _rallyPointManager(nullptr)
    , _rallyPointManagerInitialRequestSent(false)
#if defined(QGC_AIRMAP_ENABLED)
    , _airspaceVehicleManager(nullptr)
#endif
    , _armed(false)
    , _base_mode(0)
    , _custom_mode(0)
    , _nextSendMessageMultipleIndex(0)
    , _trajectoryPoints(new TrajectoryPoints(this, this))
    , _firmwarePluginManager(firmwarePluginManager)
    , _joystickManager(nullptr)
    , _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)
    , _uid(0)
    , _lastAnnouncedLowBatteryPercent(100)
    , _orbitActive(false)
    , _pidTuningTelemetryMode(false)
    , _pidTuningWaitingForRates(false)
    , _rollFact             (0, _rollFactName,              FactMetaData::valueTypeDouble)
    , _pitchFact            (0, _pitchFactName,             FactMetaData::valueTypeDouble)
    , _headingFact          (0, _headingFactName,           FactMetaData::valueTypeDouble)
    , _rollRateFact         (0, _rollRateFactName,          FactMetaData::valueTypeDouble)
    , _pitchRateFact        (0, _pitchRateFactName,         FactMetaData::valueTypeDouble)
    , _yawRateFact          (0, _yawRateFactName,           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)
    , _distanceToHomeFact   (0, _distanceToHomeFactName,    FactMetaData::valueTypeDouble)
    , _headingToNextWPFact  (0, _headingToNextWPFactName,   FactMetaData::valueTypeDouble)
    , _headingToHomeFact    (0, _headingToHomeFactName,     FactMetaData::valueTypeDouble)
    , _distanceToGCSFact    (0, _distanceToGCSFactName,     FactMetaData::valueTypeDouble)
    , _hobbsFact            (0, _hobbsFactName,             FactMetaData::valueTypeString)
    , _throttlePctFact      (0, _throttlePctFactName,       FactMetaData::valueTypeUint16)
    , _gpsFactGroup(this)
    , _battery1FactGroup(this)
    , _battery2FactGroup(this)
    , _windFactGroup(this)
    , _vibrationFactGroup(this)
    , _clockFactGroup(this)
    , _distanceSensorFactGroup(this)
{
    _commonInit();

    // 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);

    _firmwarePlugin->initializeVehicle(this);
}

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

    connect(_firmwarePlugin, &FirmwarePlugin::toolbarIndicatorsChanged, this, &Vehicle::toolBarIndicatorsChanged);

    connect(this, &Vehicle::coordinateChanged,      this, &Vehicle::_updateDistanceHeadingToHome);
    connect(this, &Vehicle::coordinateChanged,      this, &Vehicle::_updateDistanceToGCS);
    connect(this, &Vehicle::homePositionChanged,    this, &Vehicle::_updateDistanceHeadingToHome);
    connect(this, &Vehicle::hobbsMeterChanged,      this, &Vehicle::_updateHobbsMeter);

    connect(_toolbox->qgcPositionManager(), &QGCPositionManager::gcsPositionChanged, this, &Vehicle::_updateDistanceToGCS);

    _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::sendComplete,             this, &Vehicle::_clearCameraTriggerPoints);
    connect(_missionManager, &MissionManager::currentIndexChanged,      this, &Vehicle::_updateHeadingToNextWP);

    connect(_missionManager, &MissionManager::sendComplete,             _trajectoryPoints, &TrajectoryPoints::clear);
    connect(_missionManager, &MissionManager::newMissionItemsAvailable, _trajectoryPoints, &TrajectoryPoints::clear);

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

    _objectAvoidance = new VehicleObjectAvoidance(this, this);

    // 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);

    // Flight modes can differ based on advanced mode
    connect(_toolbox->corePlugin(), &QGCCorePlugin::showAdvancedUIChanged, this, &Vehicle::flightModesChanged);

    // Build FactGroup object model

    _addFact(&_rollFact,                _rollFactName);
    _addFact(&_pitchFact,               _pitchFactName);
    _addFact(&_headingFact,             _headingFactName);
    _addFact(&_rollRateFact,            _rollRateFactName);
    _addFact(&_pitchRateFact,           _pitchRateFactName);
    _addFact(&_yawRateFact,             _yawRateFactName);
    _addFact(&_groundSpeedFact,         _groundSpeedFactName);
    _addFact(&_airSpeedFact,            _airSpeedFactName);
    _addFact(&_climbRateFact,           _climbRateFactName);
    _addFact(&_altitudeRelativeFact,    _altitudeRelativeFactName);
    _addFact(&_altitudeAMSLFact,        _altitudeAMSLFactName);
    _addFact(&_flightDistanceFact,      _flightDistanceFactName);
    _addFact(&_flightTimeFact,          _flightTimeFactName);
    _addFact(&_distanceToHomeFact,      _distanceToHomeFactName);
    _addFact(&_headingToNextWPFact,     _headingToNextWPFactName);
    _addFact(&_headingToHomeFact,       _headingToHomeFactName);
    _addFact(&_distanceToGCSFact,       _distanceToGCSFactName);
    _addFact(&_throttlePctFact,         _throttlePctFactName);

    _hobbsFact.setRawValue(QVariant(QString("0000:00:00")));
    _addFact(&_hobbsFact,               _hobbsFactName);

    _addFactGroup(&_gpsFactGroup,               _gpsFactGroupName);
    _addFactGroup(&_battery1FactGroup,          _battery1FactGroupName);
    _addFactGroup(&_battery2FactGroup,          _battery2FactGroupName);
    _addFactGroup(&_windFactGroup,              _windFactGroupName);
    _addFactGroup(&_vibrationFactGroup,         _vibrationFactGroupName);
    _addFactGroup(&_temperatureFactGroup,       _temperatureFactGroupName);
    _addFactGroup(&_clockFactGroup,             _clockFactGroupName);
    _addFactGroup(&_distanceSensorFactGroup,    _distanceSensorFactGroupName);
    _addFactGroup(&_estimatorStatusFactGroup,   _estimatorStatusFactGroupName);

    // 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);
    _flightTimeUpdater.setInterval(1000);
    _flightTimeUpdater.setSingleShot(false);
    connect(&_flightTimeUpdater, &QTimer::timeout, this, &Vehicle::_updateFlightTime);

    // Set video stream to udp if running ArduSub and Video is disabled
    if (sub() && _settingsManager->videoSettings()->videoSource()->rawValue() == VideoSettings::videoDisabled) {
        _settingsManager->videoSettings()->videoSource()->setRawValue(VideoSettings::videoSourceUDPH264);
    }

    //-- Airspace Management
#if defined(QGC_AIRMAP_ENABLED)
    AirspaceManager* airspaceManager = _toolbox->airspaceManager();
    if (airspaceManager) {
        _airspaceVehicleManager = airspaceManager->instantiateVehicle(*this);
        if (_airspaceVehicleManager) {
            connect(_airspaceVehicleManager, &AirspaceVehicleManager::trafficUpdate, this, &Vehicle::_trafficUpdate);
        }
    }
#endif

    _pidTuningMessages << MAVLINK_MSG_ID_ATTITUDE << MAVLINK_MSG_ID_ATTITUDE_TARGET;
}

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

    delete _missionManager;
    _missionManager = nullptr;

    delete _autopilotPlugin;
    _autopilotPlugin = nullptr;

    delete _mav;
    _mav = nullptr;

#if defined(QGC_AIRMAP_ENABLED)
    if (_airspaceVehicleManager) {
        delete _airspaceVehicleManager;
    }
#endif
}

void Vehicle::prepareDelete()
{
    if(_cameras) {
        // because of _cameras QML bindings check for nullptr won't work in the binding pipeline
        // the dangling pointer access will cause a runtime fault
        auto tmpCameras = _cameras;
        _cameras = nullptr;
        delete tmpCameras;
        emit dynamicCamerasChanged();
        qApp->processEvents();
    }
}

void Vehicle::_offlineFirmwareTypeSettingChanged(QVariant value)
{
    _firmwareType = static_cast<MAV_AUTOPILOT>(value.toInt());
    _firmwarePlugin = _firmwarePluginManager->firmwarePluginForAutopilot(_firmwareType, _vehicleType);
    emit firmwareTypeChanged();
}

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() const
{
    if (px4Firmware()) {
        return QStringLiteral("PX4 Pro");
    } else if (apmFirmware()) {
        return QStringLiteral("ArduPilot");
    } else {
        return tr("MAVLink Generic");
    }
}

QString Vehicle::vehicleTypeString() 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 the link is already running at Mavlink V2 set our max proto version to it.
    unsigned mavlinkVersion = _mavlink->getCurrentVersion();
    if (_maxProtoVersion != mavlinkVersion && mavlinkVersion >= 200) {
        _maxProtoVersion = mavlinkVersion;
        qCDebug(VehicleLog) << "Vehicle::_mavlinkMessageReceived Link already running Mavlink v2. Setting _maxProtoVersion" << _maxProtoVersion;
    }

    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);
    }

    //-- 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 = static_cast<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();
        }
    }

    // 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_IMAGE_CAPTURED:
        _handleCameraImageCaptured(message);
        break;
    case MAVLINK_MSG_ID_ADSB_VEHICLE:
        _handleADSBVehicle(message);
        break;
    case MAVLINK_MSG_ID_HIGH_LATENCY2:
        _handleHighLatency2(message);
        break;
    case MAVLINK_MSG_ID_ATTITUDE:
        _handleAttitude(message);
        break;
    case MAVLINK_MSG_ID_ATTITUDE_QUATERNION:
        _handleAttitudeQuaternion(message);
        break;
    case MAVLINK_MSG_ID_ATTITUDE_TARGET:
        _handleAttitudeTarget(message);
        break;
    case MAVLINK_MSG_ID_DISTANCE_SENSOR:
        _handleDistanceSensor(message);
        break;
    case MAVLINK_MSG_ID_ESTIMATOR_STATUS:
        _handleEstimatorStatus(message);
        break;
    case MAVLINK_MSG_ID_STATUSTEXT:
        _handleStatusText(message, false /* longVersion */);
        break;
    case MAVLINK_MSG_ID_STATUSTEXT_LONG:
        _handleStatusText(message, true /* longVersion */);
        break;
    case MAVLINK_MSG_ID_ORBIT_EXECUTION_STATUS:
        _handleOrbitExecutionStatus(message);
        break;
    case MAVLINK_MSG_ID_MESSAGE_INTERVAL:
        _handleMessageInterval(message);
        break;
    case MAVLINK_MSG_ID_PING:
        _handlePing(link, message);
        break;
    case MAVLINK_MSG_ID_MOUNT_ORIENTATION:
        _handleGimbalOrientation(message);
        break;
    case MAVLINK_MSG_ID_OBSTACLE_DISTANCE:
        _handleObstacleDistance(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
#if !defined(NO_ARDUPILOT_DIALECT)
    case MAVLINK_MSG_ID_CAMERA_FEEDBACK:
        _handleCameraFeedback(message);
        break;
    case MAVLINK_MSG_ID_WIND:
        _handleWind(message);
        break;
#endif
    }

    // This must be emitted after the vehicle processes the message. This way the vehicle state is up to date when anyone else
    // does processing.
    emit mavlinkMessageReceived(message);

    _uas->receiveMessage(message);
}

#if !defined(NO_ARDUPILOT_DIALECT)
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));
}
#endif

void Vehicle::_handleOrbitExecutionStatus(const mavlink_message_t& message)
{
    mavlink_orbit_execution_status_t orbitStatus;

    mavlink_msg_orbit_execution_status_decode(&message, &orbitStatus);

    double newRadius =  qAbs(static_cast<double>(orbitStatus.radius));
    if (!qFuzzyCompare(_orbitMapCircle.radius()->rawValue().toDouble(), newRadius)) {
        _orbitMapCircle.radius()->setRawValue(newRadius);
    }

    bool newOrbitClockwise = orbitStatus.radius > 0 ? true : false;
    if (_orbitMapCircle.clockwiseRotation() != newOrbitClockwise) {
        _orbitMapCircle.setClockwiseRotation(newOrbitClockwise);
    }

    QGeoCoordinate newCenter(static_cast<double>(orbitStatus.x) / qPow(10.0, 7.0), static_cast<double>(orbitStatus.y) / qPow(10.0, 7.0));
    if (_orbitMapCircle.center() != newCenter) {
        _orbitMapCircle.setCenter(newCenter);
    }

    if (!_orbitActive) {
        _orbitActive = true;
        _orbitMapCircle.setShowRotation(true);
        emit orbitActiveChanged(true);
    }

    _orbitTelemetryTimer.start(_orbitTelemetryTimeoutMsecs);
}

void Vehicle::_orbitTelemetryTimeout()
{
    _orbitActive = false;
    emit orbitActiveChanged(false);
}

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::_handleStatusText(mavlink_message_t& message, bool longVersion)
{
    QByteArray  b;
    QString     messageText;
    int         severity;

    if (longVersion) {
        b.resize(MAVLINK_MSG_STATUSTEXT_LONG_FIELD_TEXT_LEN+1);
        mavlink_statustext_long_t statustextLong;
        mavlink_msg_statustext_long_decode(&message, &statustextLong);
        strncpy(b.data(), statustextLong.text, MAVLINK_MSG_STATUSTEXT_LONG_FIELD_TEXT_LEN);
        severity = statustextLong.severity;
    } else {
        b.resize(MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1);
        mavlink_statustext_t statustext;
        mavlink_msg_statustext_decode(&message, &statustext);
        strncpy(b.data(), statustext.text, MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN);
        severity = statustext.severity;
    }
    b[b.length()-1] = '\0';
    messageText = QString(b);

    bool skipSpoken = false;
    bool ardupilotPrearm = messageText.startsWith(QStringLiteral("PreArm"));
    bool px4Prearm = messageText.startsWith(QStringLiteral("preflight"), Qt::CaseInsensitive) && severity >= MAV_SEVERITY_CRITICAL;
    if (ardupilotPrearm || px4Prearm) {
        // Limit repeated PreArm message to once every 10 seconds
        if (_noisySpokenPrearmMap.contains(messageText) && _noisySpokenPrearmMap[messageText].msecsTo(QTime::currentTime()) < (10 * 1000)) {
            skipSpoken = true;
        } else {
            _noisySpokenPrearmMap[messageText] = QTime::currentTime();
            setPrearmError(messageText);
        }
    }


    // If the message is NOTIFY or higher severity, or starts with a '#',
    // then read it aloud.
    if (messageText.startsWith("#") || severity <= MAV_SEVERITY_NOTICE) {
        messageText.remove("#");
        if (!skipSpoken) {
            qgcApp()->toolbox()->audioOutput()->say(messageText);
        }
    }
    emit textMessageReceived(id(), message.compid, severity, messageText);
}

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);
    _throttlePctFact.setRawValue(static_cast<int16_t>(vfrHud.throttle));
}

void Vehicle::_handleEstimatorStatus(mavlink_message_t& message)
{
    mavlink_estimator_status_t estimatorStatus;
    mavlink_msg_estimator_status_decode(&message, &estimatorStatus);

    _estimatorStatusFactGroup.goodAttitudeEstimate()->setRawValue(!!(estimatorStatus.flags & ESTIMATOR_ATTITUDE));
    _estimatorStatusFactGroup.goodHorizVelEstimate()->setRawValue(!!(estimatorStatus.flags & ESTIMATOR_VELOCITY_HORIZ));
    _estimatorStatusFactGroup.goodVertVelEstimate()->setRawValue(!!(estimatorStatus.flags & ESTIMATOR_VELOCITY_VERT));
    _estimatorStatusFactGroup.goodHorizPosRelEstimate()->setRawValue(!!(estimatorStatus.flags & ESTIMATOR_POS_HORIZ_REL));
    _estimatorStatusFactGroup.goodHorizPosAbsEstimate()->setRawValue(!!(estimatorStatus.flags & ESTIMATOR_POS_HORIZ_ABS));
    _estimatorStatusFactGroup.goodVertPosAbsEstimate()->setRawValue(!!(estimatorStatus.flags & ESTIMATOR_POS_VERT_ABS));
    _estimatorStatusFactGroup.goodVertPosAGLEstimate()->setRawValue(!!(estimatorStatus.flags & ESTIMATOR_POS_VERT_AGL));
    _estimatorStatusFactGroup.goodConstPosModeEstimate()->setRawValue(!!(estimatorStatus.flags & ESTIMATOR_CONST_POS_MODE));
    _estimatorStatusFactGroup.goodPredHorizPosRelEstimate()->setRawValue(!!(estimatorStatus.flags & ESTIMATOR_PRED_POS_HORIZ_REL));
    _estimatorStatusFactGroup.goodPredHorizPosAbsEstimate()->setRawValue(!!(estimatorStatus.flags & ESTIMATOR_PRED_POS_HORIZ_ABS));
    _estimatorStatusFactGroup.gpsGlitch()->setRawValue(estimatorStatus.flags & ESTIMATOR_GPS_GLITCH ? true : false);
    _estimatorStatusFactGroup.accelError()->setRawValue(!!(estimatorStatus.flags & ESTIMATOR_ACCEL_ERROR));
    _estimatorStatusFactGroup.velRatio()->setRawValue(estimatorStatus.vel_ratio);
    _estimatorStatusFactGroup.horizPosRatio()->setRawValue(estimatorStatus.pos_horiz_ratio);
    _estimatorStatusFactGroup.vertPosRatio()->setRawValue(estimatorStatus.pos_vert_ratio);
    _estimatorStatusFactGroup.magRatio()->setRawValue(estimatorStatus.mag_ratio);
    _estimatorStatusFactGroup.haglRatio()->setRawValue(estimatorStatus.hagl_ratio);
    _estimatorStatusFactGroup.tasRatio()->setRawValue(estimatorStatus.tas_ratio);
    _estimatorStatusFactGroup.horizPosAccuracy()->setRawValue(estimatorStatus.pos_horiz_accuracy);
    _estimatorStatusFactGroup.vertPosAccuracy()->setRawValue(estimatorStatus.pos_vert_accuracy);

#if 0
    typedef enum ESTIMATOR_STATUS_FLAGS
    {