UAS.cc

}

quint64 UAS::getUnixTime(quint64 time)
{
    if (time == 0)
    {
        return MG::TIME::getGroundTimeNow();
    }
    // Check if time is smaller than 40 years,
    // assuming no system without Unix timestamp
    // runs longer than 40 years continuously without
    // reboot. In worst case this will add/subtract the
    // communication delay between GCS and MAV,
    // it will never alter the timestamp in a safety
    // critical way.
    //
    // Calculation:
    // 40 years
    // 365 days
    // 24 hours
    // 60 minutes
    // 60 seconds
    // 1000 milliseconds
    // 1000 microseconds
#ifndef _MSC_VER
    else if (time < 1261440000000000LLU)
#else
        else if (time < 1261440000000000)
#endif
        {
        if (onboardTimeOffset == 0)
        {
            onboardTimeOffset = MG::TIME::getGroundTimeNow() - time/1000;
        }
        return time/1000 + onboardTimeOffset;
    }
    else
    {
        // Time is not zero and larger than 40 years -> has to be
        // a Unix epoch timestamp. Do nothing.
        return time/1000;
    }
}

QList<QString> UAS::getParameterNames(int component)
{
    if (parameters.contains(component))
    {
        return parameters.value(component)->keys();
    }
    else
    {
        return QList<QString>();
    }
}

QList<int> UAS::getComponentIds()
{
    return parameters.keys();
}

void UAS::setMode(int mode)
{
    if ((uint8_t)mode >= MAV_MODE_LOCKED && (uint8_t)mode <= MAV_MODE_RC_TRAINING)
    {
        this->mode = mode;
        mavlink_message_t msg;
        mavlink_msg_set_mode_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, (uint8_t)uasId, (uint8_t)mode);
        sendMessage(msg);
        qDebug() << "SENDING REQUEST TO SET MODE TO SYSTEM" << uasId << ", REQUEST TO SET MODE " << (uint8_t)mode;
    }
}

void UAS::sendMessage(mavlink_message_t message)
{
    // Emit message on all links that are currently connected
    QList<LinkInterface*>::iterator i;
    for (i = links->begin(); i != links->end(); ++i)
    {
        sendMessage(*i, message);
    }
}

void UAS::forwardMessage(mavlink_message_t message)
{
    // Emit message on all links that are currently connected
    QList<LinkInterface*>link_list = LinkManager::instance()->getLinksForProtocol(mavlink);

    foreach(LinkInterface* link, link_list)
    {
        if (link)
        {
            SerialLink* serial = dynamic_cast<SerialLink*>(link);
            if(serial != 0)
            {

                for(int i=0;i<links->size();i++)
                {
                    if(serial != links->at(i))
                    {
                        qDebug()<<"Antenna tracking: Forwarding Over link: "<<serial->getName()<<" "<<serial;
                        sendMessage(serial, message);
                    }
                }
            }
        }
    }
}

void UAS::sendMessage(LinkInterface* link, mavlink_message_t message)
{
    if(!link) return;
    // Create buffer
    uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
    // Write message into buffer, prepending start sign
    int len = mavlink_msg_to_send_buffer(buffer, &message);
    mavlink_finalize_message_chan(&message, mavlink->getSystemId(), mavlink->getComponentId(), link->getId(), message.len);
    // If link is connected
    if (link->isConnected())
    {
        // Send the portion of the buffer now occupied by the message
        link->writeBytes((const char*)buffer, len);
    }
}

/**
 * @param value battery voltage
 */
float UAS::filterVoltage(float value) const
{
    return lpVoltage * 0.7f + value * 0.3f;
}

void UAS::getStatusForCode(int statusCode, QString& uasState, QString& stateDescription)
{
    switch (statusCode)
    {
    case MAV_STATE_UNINIT:
        uasState = tr("UNINIT");
        stateDescription = tr("Waiting..");
        break;
    case MAV_STATE_BOOT:
        uasState = tr("BOOT");
        stateDescription = tr("Booting..");
        break;
    case MAV_STATE_CALIBRATING:
        uasState = tr("CALIBRATING");
        stateDescription = tr("Calibrating..");
        break;
    case MAV_STATE_ACTIVE:
        uasState = tr("ACTIVE");
        stateDescription = tr("Normal");
        break;
    case MAV_STATE_STANDBY:
        uasState = tr("STANDBY");
        stateDescription = tr("Standby, OK");
        break;
    case MAV_STATE_CRITICAL:
        uasState = tr("CRITICAL");
        stateDescription = tr("FAILURE: Continue");
        break;
    case MAV_STATE_EMERGENCY:
        uasState = tr("EMERGENCY");
        stateDescription = tr("EMERGENCY: Land!");
        break;
    case MAV_STATE_POWEROFF:
        uasState = tr("SHUTDOWN");
        stateDescription = tr("Powering off");
        break;
    default:
        uasState = tr("UNKNOWN");
        stateDescription = tr("Unknown state");
        break;
    }
}



/* MANAGEMENT */

/*
 *
 * @return The uptime in milliseconds
 *
 **/
quint64 UAS::getUptime() const
{
    if(startTime == 0) {
        return 0;
    } else {
        return MG::TIME::getGroundTimeNow() - startTime;
    }
}

int UAS::getCommunicationStatus() const
{
    return commStatus;
}

void UAS::requestParameters()
{
    mavlink_message_t msg;
    mavlink_msg_param_request_list_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), 25);
    // Send message twice to increase chance of reception
    sendMessage(msg);
}

void UAS::writeParametersToStorage()
{
    mavlink_message_t msg;
    // TODO Replace MG System ID with static function call and allow to change ID in GUI
    mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(),MAV_COMP_ID_IMU, (uint8_t)MAV_ACTION_STORAGE_WRITE);
    //mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(),(uint8_t)MAV_ACTION_STORAGE_WRITE);
    sendMessage(msg);
}

void UAS::readParametersFromStorage()
{
    mavlink_message_t msg;
    // TODO Replace MG System ID with static function call and allow to change ID in GUI
    mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU,(uint8_t)MAV_ACTION_STORAGE_READ);
    sendMessage(msg);
}

void UAS::enableAllDataTransmission(int rate)
{
    // Buffers to write data to
    mavlink_message_t msg;
    mavlink_request_data_stream_t stream;
    // Select the message to request from now on
    // 0 is a magic ID and will enable/disable the standard message set except for heartbeat
    stream.req_stream_id = MAV_DATA_STREAM_ALL;
    // Select the update rate in Hz the message should be send
    // All messages will be send with their default rate
    // TODO: use 0 to turn off and get rid of enable/disable? will require
    //  a different magic flag for turning on defaults, possibly something really high like 1111 ?
    stream.req_message_rate = 0;
    // Start / stop the message
    stream.start_stop = (rate) ? 1 : 0;
    // The system which should take this command
    stream.target_system = uasId;
    // The component / subsystem which should take this command
    stream.target_component = 0;
    // Encode and send the message
    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
}

void UAS::enableRawSensorDataTransmission(int rate)
{
    // Buffers to write data to
    mavlink_message_t msg;
    mavlink_request_data_stream_t stream;
    // Select the message to request from now on
    stream.req_stream_id = MAV_DATA_STREAM_RAW_SENSORS;
    // Select the update rate in Hz the message should be send
    stream.req_message_rate = rate;
    // Start / stop the message
    stream.start_stop = (rate) ? 1 : 0;
    // The system which should take this command
    stream.target_system = uasId;
    // The component / subsystem which should take this command
    stream.target_component = 0;
    // Encode and send the message
    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
}

void UAS::enableExtendedSystemStatusTransmission(int rate)
{
    // Buffers to write data to
    mavlink_message_t msg;
    mavlink_request_data_stream_t stream;
    // Select the message to request from now on
    stream.req_stream_id = MAV_DATA_STREAM_EXTENDED_STATUS;
    // Select the update rate in Hz the message should be send
    stream.req_message_rate = rate;
    // Start / stop the message
    stream.start_stop = (rate) ? 1 : 0;
    // The system which should take this command
    stream.target_system = uasId;
    // The component / subsystem which should take this command
    stream.target_component = 0;
    // Encode and send the message
    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
}

void UAS::enableRCChannelDataTransmission(int rate)
{
#if defined(MAVLINK_ENABLED_UALBERTA_MESSAGES)
    mavlink_message_t msg;
    mavlink_msg_request_rc_channels_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, enabled);
    sendMessage(msg);
#else
    mavlink_message_t msg;
    mavlink_request_data_stream_t stream;
    // Select the message to request from now on
    stream.req_stream_id = MAV_DATA_STREAM_RC_CHANNELS;
    // Select the update rate in Hz the message should be send
    stream.req_message_rate = rate;
    // Start / stop the message
    stream.start_stop = (rate) ? 1 : 0;
    // The system which should take this command
    stream.target_system = uasId;
    // The component / subsystem which should take this command
    stream.target_component = 0;
    // Encode and send the message
    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
#endif
}

void UAS::enableRawControllerDataTransmission(int rate)
{
    // Buffers to write data to
    mavlink_message_t msg;
    mavlink_request_data_stream_t stream;
    // Select the message to request from now on
    stream.req_stream_id = MAV_DATA_STREAM_RAW_CONTROLLER;
    // Select the update rate in Hz the message should be send
    stream.req_message_rate = rate;
    // Start / stop the message
    stream.start_stop = (rate) ? 1 : 0;
    // The system which should take this command
    stream.target_system = uasId;
    // The component / subsystem which should take this command
    stream.target_component = 0;
    // Encode and send the message
    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
}

//void UAS::enableRawSensorFusionTransmission(int rate)
//{
//    // Buffers to write data to
//    mavlink_message_t msg;
//    mavlink_request_data_stream_t stream;
//    // Select the message to request from now on
//    stream.req_stream_id = MAV_DATA_STREAM_RAW_SENSOR_FUSION;
//    // Select the update rate in Hz the message should be send
//    stream.req_message_rate = rate;
//    // Start / stop the message
//    stream.start_stop = (rate) ? 1 : 0;
//    // The system which should take this command
//    stream.target_system = uasId;
//    // The component / subsystem which should take this command
//    stream.target_component = 0;
//    // Encode and send the message
//    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
//    // Send message twice to increase chance of reception
//    sendMessage(msg);
//    sendMessage(msg);
//}

void UAS::enablePositionTransmission(int rate)
{
    // Buffers to write data to
    mavlink_message_t msg;
    mavlink_request_data_stream_t stream;
    // Select the message to request from now on
    stream.req_stream_id = MAV_DATA_STREAM_POSITION;
    // Select the update rate in Hz the message should be send
    stream.req_message_rate = rate;
    // Start / stop the message
    stream.start_stop = (rate) ? 1 : 0;
    // The system which should take this command
    stream.target_system = uasId;
    // The component / subsystem which should take this command
    stream.target_component = 0;
    // Encode and send the message
    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
}

void UAS::enableExtra1Transmission(int rate)
{
    // Buffers to write data to
    mavlink_message_t msg;
    mavlink_request_data_stream_t stream;
    // Select the message to request from now on
    stream.req_stream_id = MAV_DATA_STREAM_EXTRA1;
    // Select the update rate in Hz the message should be send
    stream.req_message_rate = rate;
    // Start / stop the message
    stream.start_stop = (rate) ? 1 : 0;
    // The system which should take this command
    stream.target_system = uasId;
    // The component / subsystem which should take this command
    stream.target_component = 0;
    // Encode and send the message
    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
}

void UAS::enableExtra2Transmission(int rate)
{
    // Buffers to write data to
    mavlink_message_t msg;
    mavlink_request_data_stream_t stream;
    // Select the message to request from now on
    stream.req_stream_id = MAV_DATA_STREAM_EXTRA2;
    // Select the update rate in Hz the message should be send
    stream.req_message_rate = rate;
    // Start / stop the message
    stream.start_stop = (rate) ? 1 : 0;
    // The system which should take this command
    stream.target_system = uasId;
    // The component / subsystem which should take this command
    stream.target_component = 0;
    // Encode and send the message
    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
}

void UAS::enableExtra3Transmission(int rate)
{
    // Buffers to write data to
    mavlink_message_t msg;
    mavlink_request_data_stream_t stream;
    // Select the message to request from now on
    stream.req_stream_id = MAV_DATA_STREAM_EXTRA3;
    // Select the update rate in Hz the message should be send
    stream.req_message_rate = rate;
    // Start / stop the message
    stream.start_stop = (rate) ? 1 : 0;
    // The system which should take this command
    stream.target_system = uasId;
    // The component / subsystem which should take this command
    stream.target_component = 0;
    // Encode and send the message
    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
}

/**
 * Set a parameter value onboard
 *
 * @param component The component to set the parameter
 * @param id Name of the parameter
 * @param value Parameter value
 */
void UAS::setParameter(const int component, const QString& id, const float value)
{
    if (!id.isNull())
    {
    mavlink_message_t msg;
    mavlink_param_set_t p;
    p.param_value = value;
    p.target_system = (uint8_t)uasId;
    p.target_component = (uint8_t)component;

    // Copy string into buffer, ensuring not to exceed the buffer size    
    for (unsigned int i = 0; i < sizeof(p.param_id); i++)
    {
        // String characters
        if ((int)i < id.length() && i < (sizeof(p.param_id) - 1))
        {
            p.param_id[i] = id.toAscii()[i];
        }
        // Null termination at end of string or end of buffer
        else if ((int)i == id.length() || i == (sizeof(p.param_id) - 1))
        {
            p.param_id[i] = '\0';
        }
        // Zero fill
        else
        {
            p.param_id[i] = 0;
        }
    }    
    mavlink_msg_param_set_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &p);
    sendMessage(msg);
    }
}

void UAS::setSystemType(int systemType)
{
    type = systemType;
    // If the airframe is still generic, change it to a close default type
    if (airframe == 0)
    {
        switch (systemType)
        {
        case MAV_FIXED_WING:
            airframe = QGC_AIRFRAME_EASYSTAR;
            break;
        case MAV_QUADROTOR:
            airframe = QGC_AIRFRAME_MIKROKOPTER;
            break;
        }
    }
    emit systemSpecsChanged(uasId);
}

void UAS::setUASName(const QString& name)
{
    this->name = name;
    writeSettings();
    emit nameChanged(name);
    emit systemSpecsChanged(uasId);
}

/**
 * Sets an action
 *
 **/
void UAS::setAction(MAV_ACTION action)
{
    mavlink_message_t msg;
    mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), 0, action);
    // Send message twice to increase chance that it reaches its goal
    sendMessage(msg);
    sendMessage(msg);
}

/**
 * Launches the system
 *
 **/
void UAS::launch()
{
    mavlink_message_t msg;
    // TODO Replace MG System ID with static function call and allow to change ID in GUI
    mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), MAV_COMP_ID_IMU, (uint8_t)MAV_ACTION_TAKEOFF);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
}

/**
 * Depending on the UAS, this might make the rotors of a helicopter spinning
 *
 **/
void UAS::enable_motors()
{
    mavlink_message_t msg;
    // TODO Replace MG System ID with static function call and allow to change ID in GUI
    mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), MAV_COMP_ID_IMU, (uint8_t)MAV_ACTION_MOTORS_START);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
}

/**
 * @warning Depending on the UAS, this might completely stop all motors.
 *
 **/
void UAS::disable_motors()
{
    mavlink_message_t msg;
    // TODO Replace MG System ID with static function call and allow to change ID in GUI
    mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), MAV_COMP_ID_IMU, (uint8_t)MAV_ACTION_MOTORS_STOP);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
}

void UAS::setManualControlCommands(double roll, double pitch, double yaw, double thrust)
{
    // Scale values
    double rollPitchScaling = 0.2f;
    double yawScaling = 0.5f;
    double thrustScaling = 1.0f;

    manualRollAngle = roll * rollPitchScaling;
    manualPitchAngle = pitch * rollPitchScaling;
    manualYawAngle = yaw * yawScaling;
    manualThrust = thrust * thrustScaling;

    if(mode == (int)MAV_MODE_MANUAL)
    {
        mavlink_message_t message;
        mavlink_msg_manual_control_pack(mavlink->getSystemId(), mavlink->getComponentId(), &message, this->uasId, (float)manualRollAngle, (float)manualPitchAngle, (float)manualYawAngle, (float)manualThrust, controlRollManual, controlPitchManual, controlYawManual, controlThrustManual);
        sendMessage(message);
        qDebug() << __FILE__ << __LINE__ << ": SENT MANUAL CONTROL MESSAGE: roll" << manualRollAngle << " pitch: " << manualPitchAngle << " yaw: " << manualYawAngle << " thrust: " << manualThrust;

        emit attitudeThrustSetPointChanged(this, roll, pitch, yaw, thrust, MG::TIME::getGroundTimeNow());
    }
    else
    {
        qDebug() << "JOYSTICK/MANUAL CONTROL: IGNORING COMMANDS: Set mode to MANUAL to send joystick commands first";
    }
}

int UAS::getSystemType()
{
    return this->type;
}

void UAS::receiveButton(int buttonIndex)
{
    switch (buttonIndex)
    {
    case 0:

        break;
    case 1:

        break;
    default:

        break;
    }
    //    qDebug() << __FILE__ << __LINE__ << ": Received button clicked signal (button # is: " << buttonIndex << "), UNIMPLEMENTED IN MAVLINK!";

}


/*void UAS::requestWaypoints()
{
//    mavlink_message_t msg;
//    mavlink_msg_waypoint_request_list_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 25);
//    // Send message twice to increase chance of reception
//    sendMessage(msg);
    waypointManager.requestWaypoints();
    qDebug() << "UAS Request WPs";
}

void UAS::setWaypoint(Waypoint* wp)
{
//    mavlink_message_t msg;
//    mavlink_waypoint_set_t set;
//    set.id = wp->id;
//    //QString name = wp->name;
//    // FIXME Check if this works properly
//    //name.truncate(MAVLINK_MSG_WAYPOINT_SET_FIELD_NAME_LEN);
//    //strcpy((char*)set.name, name.toStdString().c_str());
//    set.autocontinue = wp->autocontinue;
//    set.target_component = 25; // FIXME
//    set.target_system = uasId;
//    set.active = wp->current;
//    set.x = wp->x;
//    set.y = wp->y;
//    set.z = wp->z;
//    set.yaw = wp->yaw;
//    mavlink_msg_waypoint_set_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &set);
//    // Send message twice to increase chance of reception
//    sendMessage(msg);
}

void UAS::setWaypointActive(int id)
{
//    mavlink_message_t msg;
//    mavlink_waypoint_set_active_t active;
//    active.id = id;
//    active.target_system = uasId;
//    active.target_component = 25; // FIXME
//    mavlink_msg_waypoint_set_active_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &active);
//    // Send message twice to increase chance of reception
//    sendMessage(msg);
//    sendMessage(msg);
//    // TODO This should be not directly emitted, but rather being fed back from the UAS
//    emit waypointSelected(getUASID(), id);
}

void UAS::clearWaypointList()
{
//    mavlink_message_t msg;
//    // FIXME
//    mavlink_waypoint_clear_list_t clist;
//    clist.target_system = uasId;
//    clist.target_component = 25;  // FIXME
//    mavlink_msg_waypoint_clear_list_encode(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, &clist);
//    sendMessage(msg);
//    qDebug() << "UAS clears Waypoints!";
}*/


void UAS::halt()
{
    mavlink_message_t msg;
    // TODO Replace MG System ID with static function call and allow to change ID in GUI
    mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU, (int)MAV_ACTION_HALT);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
}

void UAS::go()
{
    mavlink_message_t msg;
    // TODO Replace MG System ID with static function call and allow to change ID in GUI
    mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU,  (int)MAV_ACTION_CONTINUE);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
}

/** Order the robot to return home / to land on the runway **/
void UAS::home()
{
    mavlink_message_t msg;
    // TODO Replace MG System ID with static function call and allow to change ID in GUI
    mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU,  (int)MAV_ACTION_RETURN);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
}

/**
 * The MAV starts the emergency landing procedure. The behaviour depends on the onboard implementation
 * and might differ between systems.
 */
void UAS::emergencySTOP()
{
    mavlink_message_t msg;
    // TODO Replace MG System ID with static function call and allow to change ID in GUI
    mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU, (int)MAV_ACTION_EMCY_LAND);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
}

/**
 * All systems are immediately shut down (e.g. the main power line is cut).
 * @warning This might lead to a crash
 *
 * The command will not be executed until emergencyKILLConfirm is issues immediately afterwards
 */
bool UAS::emergencyKILL()
{
    bool result = false;
    QMessageBox msgBox;
    msgBox.setIcon(QMessageBox::Critical);
    msgBox.setText("EMERGENCY: KILL ALL MOTORS ON UAS");
    msgBox.setInformativeText("Do you want to cut power on all systems?");
    msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::Cancel);
    msgBox.setDefaultButton(QMessageBox::Cancel);
    int ret = msgBox.exec();

    // Close the message box shortly after the click to prevent accidental clicks
    QTimer::singleShot(5000, &msgBox, SLOT(reject()));


    if (ret == QMessageBox::Yes)
    {
        mavlink_message_t msg;
        // TODO Replace MG System ID with static function call and allow to change ID in GUI
        mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU, (int)MAV_ACTION_EMCY_KILL);
        // Send message twice to increase chance of reception
        sendMessage(msg);
        sendMessage(msg);
        result = true;
    }
    return result;
}

void UAS::shutdown()
{
    bool result = false;
    QMessageBox msgBox;
    msgBox.setIcon(QMessageBox::Critical);
    msgBox.setText("Shutting down the UAS");
    msgBox.setInformativeText("Do you want to shut down the onboard computer?");
    msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::Cancel);
    msgBox.setDefaultButton(QMessageBox::Cancel);
    int ret = msgBox.exec();

    // Close the message box shortly after the click to prevent accidental clicks
    QTimer::singleShot(5000, &msgBox, SLOT(reject()));


    if (ret == QMessageBox::Yes)
    {
        // If the active UAS is set, execute command
        mavlink_message_t msg;
        // TODO Replace MG System ID with static function call and allow to change ID in GUI
        mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU,(int)MAV_ACTION_SHUTDOWN);
        // Send message twice to increase chance of reception
        sendMessage(msg);
        sendMessage(msg);
        result = true;
    }
}

void UAS::setTargetPosition(float x, float y, float z, float yaw)
{
    mavlink_message_t msg;
    mavlink_msg_position_target_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, x, y, z, yaw);

    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
}

/**
 * @return The name of this system as string in human-readable form
 */
QString UAS::getUASName(void) const
{
    QString result;
    if (name == "")
    {
        result = tr("MAV ") + result.sprintf("%03d", getUASID());
    }
    else
    {
        result = name;
    }
    return result;
}

void UAS::addLink(LinkInterface* link)
{
    if (!links->contains(link))
    {
        links->append(link);
        connect(link, SIGNAL(destroyed(QObject*)), this, SLOT(removeLink(QObject*)));
    }
    //links->append(link);
    //qDebug() << link<<" ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK ADDED LINK";
}

void UAS::removeLink(QObject* object)
{
    LinkInterface* link = dynamic_cast<LinkInterface*>(object);
    if (link)
    {
        links->removeAt(links->indexOf(link));
    }
}

/**
 * @brief Get the links associated with this robot
 *
 **/
QList<LinkInterface*>* UAS::getLinks()
{
    return links;
}



void UAS::setBattery(BatteryType type, int cells)
{
    this->batteryType = type;
    this->cells = cells;
    switch (batteryType)
    {
    case NICD:
        break;
    case NIMH:
        break;
    case LIION:
        break;
    case LIPOLY:
        fullVoltage = this->cells * UAS::lipoFull;
        emptyVoltage = this->cells * UAS::lipoEmpty;
        break;
    case LIFE:
        break;
    case AGZN:
        break;
    }
}

void UAS::setBatterySpecs(const QString& specs)
{
    QString stringList = specs;
    stringList = stringList.remove("V");
    stringList = stringList.remove("v");
    QStringList parts = stringList.split(",");
    if (parts.length() == 3)
    {
        float temp;
        bool ok;
        // Get the empty voltage
        temp = parts.at(0).toFloat(&ok);
        if (ok) emptyVoltage = temp;
        // Get the warning voltage
        temp = parts.at(1).toFloat(&ok);
        if (ok) warnVoltage = temp;
        // Get the full voltage
        temp = parts.at(2).toFloat(&ok);
        if (ok) fullVoltage = temp;
    }
}

QString UAS::getBatterySpecs()
{
    return QString("%1V,%2V,%3V").arg(emptyVoltage).arg(warnVoltage).arg(fullVoltage);
}

int UAS::calculateTimeRemaining()
{
    quint64 dt = MG::TIME::getGroundTimeNow() - startTime;
    double seconds = dt / 1000.0f;
    double voltDifference = startVoltage - currentVoltage;
    if (voltDifference <= 0) voltDifference = 0.00000000001f;
    double dischargePerSecond = voltDifference / seconds;
    int remaining = static_cast<int>((currentVoltage - emptyVoltage) / dischargePerSecond);
    // Can never be below 0
    if (remaining < 0) remaining = 0;
    return remaining;
}

/**
 * @return charge level in percent - 0 - 100
 */
double UAS::getChargeLevel()
{
    float chargeLevel;
    if (lpVoltage < emptyVoltage)
    {
        chargeLevel = 0.0f;
    }
    else if (lpVoltage > fullVoltage)
    {
        chargeLevel = 100.0f;
    }
    else
    {
        chargeLevel = 100.0f * ((lpVoltage - emptyVoltage)/(fullVoltage - emptyVoltage));
    }
    return chargeLevel;
}

void UAS::startLowBattAlarm()
{
    if (!lowBattAlarm)
    {
        GAudioOutput::instance()->alert(tr("SYSTEM %1 HAS LOW BATTERY").arg(getUASName()));
        QTimer::singleShot(2000, GAudioOutput::instance(), SLOT(startEmergency()));
        lowBattAlarm = true;
    }
}

void UAS::stopLowBattAlarm()
{
    if (lowBattAlarm)
    {
        GAudioOutput::instance()->stopEmergency();
        lowBattAlarm = false;
    }
}