Vehicle.cc

{
    _altitudeAMSLFact.setRawValue(altitudeAMSL);
    _altitudeRelativeFact.setRawValue(altitudeRelative);
    _climbRateFact.setRawValue(climbRate);
}

void Vehicle::_updateNavigationControllerErrors(UASInterface*, double altitudeError, double speedError, double xtrackError) {
    _navigationAltitudeError   = altitudeError;
    _navigationSpeedError      = speedError;
    _navigationCrosstrackError = xtrackError;
}

void Vehicle::_updateNavigationControllerData(UASInterface *uas, float, float, float, float targetBearing, float) {
    if (_mav == uas) {
        _navigationTargetBearing = targetBearing;
    }
}

int Vehicle::motorCount(void)
{
    switch (_vehicleType) {
    case MAV_TYPE_HELICOPTER:
        return 1;
    case MAV_TYPE_VTOL_DUOROTOR:
        return 2;
    case MAV_TYPE_TRICOPTER:
        return 3;
    case MAV_TYPE_QUADROTOR:
    case MAV_TYPE_VTOL_QUADROTOR:
        return 4;
    case MAV_TYPE_HEXAROTOR:
        return 6;
    case MAV_TYPE_OCTOROTOR:
        return 8;
    default:
        return -1;
    }
}

bool Vehicle::coaxialMotors(void)
{
    return _firmwarePlugin->multiRotorCoaxialMotors(this);
}

bool Vehicle::xConfigMotors(void)
{
    return _firmwarePlugin->multiRotorXConfig(this);
}

/*
 * Internal
 */

void Vehicle::_checkUpdate()
{
    // Update current location
    if(_mav) {
        if(latitude() != _mav->getLatitude()) {
            setLatitude(_mav->getLatitude());
        }
        if(longitude() != _mav->getLongitude()) {
            setLongitude(_mav->getLongitude());
        }
    }
}

QString Vehicle::getMavIconColor()
{
    // TODO: Not using because not only the colors are ghastly, it doesn't respect dark/light palette
    if(_mav)
        return _mav->getColor().name();
    else
        return QString("black");
}

QString Vehicle::formatedMessages()
{
    QString messages;
    foreach(UASMessage* message, qgcApp()->toolbox()->uasMessageHandler()->messages()) {
        messages += message->getFormatedText();
    }
    return messages;
}

void Vehicle::clearMessages()
{
    qgcApp()->toolbox()->uasMessageHandler()->clearMessages();
}

void Vehicle::_handletextMessageReceived(UASMessage* message)
{
    if(message)
    {
        _formatedMessage = message->getFormatedText();
        emit formatedMessageChanged();
    }
}

void Vehicle::_updateState(UASInterface*, QString name, QString)
{
    if (_currentState != name) {
        _currentState = name;
        emit currentStateChanged();
    }
}

void Vehicle::_handleTextMessage(int newCount)
{
    // Reset?
    if(!newCount) {
        _currentMessageCount = 0;
        _currentNormalCount  = 0;
        _currentWarningCount = 0;
        _currentErrorCount   = 0;
        _messageCount        = 0;
        _currentMessageType  = MessageNone;
        emit newMessageCountChanged();
        emit messageTypeChanged();
        emit messageCountChanged();
        return;
    }

    UASMessageHandler* pMh = qgcApp()->toolbox()->uasMessageHandler();
    Q_ASSERT(pMh);
    MessageType_t type = newCount ? _currentMessageType : MessageNone;
    int errorCount     = _currentErrorCount;
    int warnCount      = _currentWarningCount;
    int normalCount    = _currentNormalCount;
    //-- Add current message counts
    errorCount  += pMh->getErrorCount();
    warnCount   += pMh->getWarningCount();
    normalCount += pMh->getNormalCount();
    //-- See if we have a higher level
    if(errorCount != _currentErrorCount) {
        _currentErrorCount = errorCount;
        type = MessageError;
    }
    if(warnCount != _currentWarningCount) {
        _currentWarningCount = warnCount;
        if(_currentMessageType != MessageError) {
            type = MessageWarning;
        }
    }
    if(normalCount != _currentNormalCount) {
        _currentNormalCount = normalCount;
        if(_currentMessageType != MessageError && _currentMessageType != MessageWarning) {
            type = MessageNormal;
        }
    }
    int count = _currentErrorCount + _currentWarningCount + _currentNormalCount;
    if(count != _currentMessageCount) {
        _currentMessageCount = count;
        // Display current total new messages count
        emit newMessageCountChanged();
    }
    if(type != _currentMessageType) {
        _currentMessageType = type;
        // Update message level
        emit messageTypeChanged();
    }
    // Update message count (all messages)
    if(newCount != _messageCount) {
        _messageCount = newCount;
        emit messageCountChanged();
    }
    QString errMsg = pMh->getLatestError();
    if(errMsg != _latestError) {
        _latestError = errMsg;
        emit latestErrorChanged();
    }
}

void Vehicle::resetMessages()
{
    // Reset Counts
    int count = _currentMessageCount;
    MessageType_t type = _currentMessageType;
    _currentErrorCount   = 0;
    _currentWarningCount = 0;
    _currentNormalCount  = 0;
    _currentMessageCount = 0;
    _currentMessageType = MessageNone;
    if(count != _currentMessageCount) {
        emit newMessageCountChanged();
    }
    if(type != _currentMessageType) {
        emit messageTypeChanged();
    }
}

int Vehicle::manualControlReservedButtonCount(void)
{
    return _firmwarePlugin->manualControlReservedButtonCount();
}

void Vehicle::_loadSettings(void)
{
    QSettings settings;

    settings.beginGroup(QString(_settingsGroup).arg(_id));

    bool convertOk;

    _joystickMode = (JoystickMode_t)settings.value(_joystickModeSettingsKey, JoystickModeRC).toInt(&convertOk);
    if (!convertOk) {
        _joystickMode = JoystickModeRC;
    }

    // Joystick enabled is a global setting so first make sure there are any joysticks connected
    if (qgcApp()->toolbox()->joystickManager()->joysticks().count()) {
        _joystickEnabled = settings.value(_joystickEnabledSettingsKey, false).toBool();
    }
}

void Vehicle::_saveSettings(void)
{
    QSettings settings;

    settings.beginGroup(QString(_settingsGroup).arg(_id));

    settings.setValue(_joystickModeSettingsKey, _joystickMode);

    // The joystick enabled setting should only be changed if a joystick is present
    // since the checkbox can only be clicked if one is present
    if (qgcApp()->toolbox()->joystickManager()->joysticks().count()) {
        settings.setValue(_joystickEnabledSettingsKey, _joystickEnabled);
    }
}

int Vehicle::joystickMode(void)
{
    return _joystickMode;
}

void Vehicle::setJoystickMode(int mode)
{
    if (mode < 0 || mode >= JoystickModeMax) {
        qCWarning(VehicleLog) << "Invalid joystick mode" << mode;
        return;
    }

    _joystickMode = (JoystickMode_t)mode;
    _saveSettings();
    emit joystickModeChanged(mode);
}

QStringList Vehicle::joystickModes(void)
{
    QStringList list;

    list << "Normal" << "Attitude" << "Position" << "Force" << "Velocity";

    return list;
}

bool Vehicle::joystickEnabled(void)
{
    return _joystickEnabled;
}

void Vehicle::setJoystickEnabled(bool enabled)
{
    _joystickEnabled = enabled;
    _startJoystick(_joystickEnabled);
    _saveSettings();
    emit joystickEnabledChanged(_joystickEnabled);
}

void Vehicle::_startJoystick(bool start)
{
    Joystick* joystick = _joystickManager->activeJoystick();
    if (joystick) {
        if (start) {
            if (_joystickEnabled) {
                joystick->startPolling(this);
            }
        } else {
            joystick->stopPolling();
        }
    }
}

bool Vehicle::active(void)
{
    return _active;
}

void Vehicle::setActive(bool active)
{
    _active = active;

    _startJoystick(_active);
}

bool Vehicle::homePositionAvailable(void)
{
    return _homePositionAvailable;
}

QGeoCoordinate Vehicle::homePosition(void)
{
    return _homePosition;
}

void Vehicle::setArmed(bool armed)
{
    // We specifically use COMMAND_LONG:MAV_CMD_COMPONENT_ARM_DISARM since it is supported by more flight stacks.

    mavlink_message_t msg;
    mavlink_command_long_t cmd;

    cmd.command = (uint16_t)MAV_CMD_COMPONENT_ARM_DISARM;
    cmd.confirmation = 0;
    cmd.param1 = armed ? 1.0f : 0.0f;
    cmd.param2 = 0.0f;
    cmd.param3 = 0.0f;
    cmd.param4 = 0.0f;
    cmd.param5 = 0.0f;
    cmd.param6 = 0.0f;
    cmd.param7 = 0.0f;
    cmd.target_system = id();
    cmd.target_component = defaultComponentId();

    mavlink_msg_command_long_encode_chan(_mavlink->getSystemId(),
                                         _mavlink->getComponentId(),
                                         priorityLink()->mavlinkChannel(),
                                         &msg,
                                         &cmd);

    sendMessageOnLink(priorityLink(), msg);
}

bool Vehicle::flightModeSetAvailable(void)
{
    return _firmwarePlugin->isCapable(this, FirmwarePlugin::SetFlightModeCapability);
}

QStringList Vehicle::flightModes(void)
{
    return _firmwarePlugin->flightModes(this);
}

QString Vehicle::flightMode(void) const
{
    return _firmwarePlugin->flightMode(_base_mode, _custom_mode);
}

void Vehicle::setFlightMode(const QString& flightMode)
{
    uint8_t     base_mode;
    uint32_t    custom_mode;

    if (_firmwarePlugin->setFlightMode(flightMode, &base_mode, &custom_mode)) {
        // setFlightMode will only set MAV_MODE_FLAG_CUSTOM_MODE_ENABLED in base_mode, we need to move back in the existing
        // states.
        uint8_t newBaseMode = _base_mode & ~MAV_MODE_FLAG_DECODE_POSITION_CUSTOM_MODE;
        newBaseMode |= base_mode;

        mavlink_message_t msg;
        mavlink_msg_set_mode_pack_chan(_mavlink->getSystemId(),
                                       _mavlink->getComponentId(),
                                       priorityLink()->mavlinkChannel(),
                                       &msg,
                                       id(),
                                       newBaseMode,
                                       custom_mode);
        sendMessageOnLink(priorityLink(), msg);
    } else {
        qWarning() << "FirmwarePlugin::setFlightMode failed, flightMode:" << flightMode;
    }
}

bool Vehicle::hilMode(void)
{
    return _base_mode & MAV_MODE_FLAG_HIL_ENABLED;
}

void Vehicle::setHilMode(bool hilMode)
{
    mavlink_message_t msg;

    uint8_t newBaseMode = _base_mode & ~MAV_MODE_FLAG_DECODE_POSITION_HIL;
    if (hilMode) {
        newBaseMode |= MAV_MODE_FLAG_HIL_ENABLED;
    }

    mavlink_msg_set_mode_pack_chan(_mavlink->getSystemId(),
                                   _mavlink->getComponentId(),
                                   priorityLink()->mavlinkChannel(),
                                   &msg,
                                   id(),
                                   newBaseMode,
                                   _custom_mode);
    sendMessageOnLink(priorityLink(), msg);
}

void Vehicle::requestDataStream(MAV_DATA_STREAM stream, uint16_t rate, bool sendMultiple)
{
    mavlink_message_t               msg;
    mavlink_request_data_stream_t   dataStream;

    dataStream.req_stream_id = stream;
    dataStream.req_message_rate = rate;
    dataStream.start_stop = 1;  // start
    dataStream.target_system = id();
    dataStream.target_component = defaultComponentId();

    mavlink_msg_request_data_stream_encode_chan(_mavlink->getSystemId(),
                                                _mavlink->getComponentId(),
                                                priorityLink()->mavlinkChannel(),
                                                &msg,
                                                &dataStream);

    if (sendMultiple) {
        // We use sendMessageMultiple since we really want these to make it to the vehicle
        sendMessageMultiple(msg);
    } else {
        sendMessageOnLink(priorityLink(), msg);
    }
}

void Vehicle::_sendMessageMultipleNext(void)
{
    if (_nextSendMessageMultipleIndex < _sendMessageMultipleList.count()) {
        qCDebug(VehicleLog) << "_sendMessageMultipleNext:" << _sendMessageMultipleList[_nextSendMessageMultipleIndex].message.msgid;

        sendMessageOnLink(priorityLink(), _sendMessageMultipleList[_nextSendMessageMultipleIndex].message);

        if (--_sendMessageMultipleList[_nextSendMessageMultipleIndex].retryCount <= 0) {
            _sendMessageMultipleList.removeAt(_nextSendMessageMultipleIndex);
        } else {
            _nextSendMessageMultipleIndex++;
        }
    }

    if (_nextSendMessageMultipleIndex >= _sendMessageMultipleList.count()) {
        _nextSendMessageMultipleIndex = 0;
    }
}

void Vehicle::sendMessageMultiple(mavlink_message_t message)
{
    SendMessageMultipleInfo_t   info;

    info.message =      message;
    info.retryCount =   _sendMessageMultipleRetries;

    _sendMessageMultipleList.append(info);
}

void Vehicle::_missionManagerError(int errorCode, const QString& errorMsg)
{
    Q_UNUSED(errorCode);
    qgcApp()->showMessage(QString("Error during Mission communication with Vehicle: %1").arg(errorMsg));
}

void Vehicle::_geoFenceManagerError(int errorCode, const QString& errorMsg)
{
    Q_UNUSED(errorCode);
    qgcApp()->showMessage(QString("Error during GeoFence communication with Vehicle: %1").arg(errorMsg));
}

void Vehicle::_rallyPointManagerError(int errorCode, const QString& errorMsg)
{
    Q_UNUSED(errorCode);
    qgcApp()->showMessage(QString("Error during Rally Point communication with Vehicle: %1").arg(errorMsg));
}

void Vehicle::_addNewMapTrajectoryPoint(void)
{
    if (_mapTrajectoryHaveFirstCoordinate) {
        // Keep three minutes of trajectory
        if (_mapTrajectoryList.count() * _mapTrajectoryMsecsBetweenPoints > 3 * 1000 * 60) {
            _mapTrajectoryList.removeAt(0)->deleteLater();
        }
        _mapTrajectoryList.append(new CoordinateVector(_mapTrajectoryLastCoordinate, _coordinate, this));
    }
    _mapTrajectoryHaveFirstCoordinate = true;
    _mapTrajectoryLastCoordinate = _coordinate;
}

void Vehicle::_mapTrajectoryStart(void)
{
    _mapTrajectoryHaveFirstCoordinate = false;
    _mapTrajectoryList.clear();
    _mapTrajectoryTimer.start();
}

void Vehicle::_mapTrajectoryStop()
{
    _mapTrajectoryTimer.stop();
}

void Vehicle::_parametersReady(bool parametersReady)
{
    if (parametersReady && !_missionManagerInitialRequestSent) {
        _missionManagerInitialRequestSent = true;
        _missionManager->requestMissionItems();
    }

    if (parametersReady) {
        setJoystickEnabled(_joystickEnabled);
    }
}

void Vehicle::disconnectInactiveVehicle(void)
{
    // Vehicle is no longer communicating with us, disconnect all links


    LinkManager* linkMgr = qgcApp()->toolbox()->linkManager();
    for (int i=0; i<_links.count(); i++) {
        // FIXME: This linkInUse check is a hack fix for multiple vehicles on the same link.
        // The real fix requires significant restructuring which will come later.
        if (!qgcApp()->toolbox()->multiVehicleManager()->linkInUse(_links[i], this)) {
            linkMgr->disconnectLink(_links[i]);
        }
    }
}

void Vehicle::_imageReady(UASInterface*)
{
    if(_uas)
    {
        QImage img = _uas->getImage();
        qgcApp()->toolbox()->imageProvider()->setImage(&img, _id);
        _flowImageIndex++;
        emit flowImageIndexChanged();
    }
}

void Vehicle::_remoteControlRSSIChanged(uint8_t rssi)
{
    if (_rcRSSIstore < 0 || _rcRSSIstore > 100) {
        _rcRSSIstore = rssi;
    }

    // Low pass to git rid of jitter
    _rcRSSIstore = (_rcRSSIstore * 0.9f) + ((float)rssi * 0.1);
    uint8_t filteredRSSI = (uint8_t)ceil(_rcRSSIstore);
    if(_rcRSSIstore < 0.1) {
        filteredRSSI = 0;
    }
    if(_rcRSSI != filteredRSSI) {
        _rcRSSI = filteredRSSI;
        emit rcRSSIChanged(_rcRSSI);
    }
}

void Vehicle::virtualTabletJoystickValue(double roll, double pitch, double yaw, double thrust)
{
    // The following if statement prevents the virtualTabletJoystick from sending values if the standard joystick is enabled
    if ( !_joystickEnabled ) {
        _uas->setExternalControlSetpoint(roll, pitch, yaw, thrust, 0, JoystickModeRC);
    }
}

void Vehicle::setConnectionLostEnabled(bool connectionLostEnabled)
{
    if (_connectionLostEnabled != connectionLostEnabled) {
        _connectionLostEnabled = connectionLostEnabled;
        emit connectionLostEnabledChanged(_connectionLostEnabled);
    }
}

void Vehicle::_connectionLostTimeout(void)
{
    if (_connectionLostEnabled && !_connectionLost) {
        _connectionLost = true;
        _heardFrom = false;
        emit connectionLostChanged(true);
        _say(QString("%1 communication lost").arg(_vehicleIdSpeech()));
        if (_autoDisconnect) {
            disconnectInactiveVehicle();
        }
    }
}

void Vehicle::_connectionActive(void)
{
    _connectionLostTimer.start();
    if (_connectionLost) {
        _connectionLost = false;
        emit connectionLostChanged(false);
        _say(QString("%1 communication regained").arg(_vehicleIdSpeech()));
    }
}

void Vehicle::_say(const QString& text)
{
    qgcApp()->toolbox()->audioOutput()->say(text.toLower());
}

bool Vehicle::fixedWing(void) const
{
    return QGCMAVLink::isFixedWing(vehicleType());
}

bool Vehicle::rover(void) const
{
    return QGCMAVLink::isRover(vehicleType());
}

bool Vehicle::sub(void) const
{
    return QGCMAVLink::isSub(vehicleType());
}

bool Vehicle::multiRotor(void) const
{
    return QGCMAVLink::isMultiRotor(vehicleType());
}

bool Vehicle::vtol(void) const
{
    switch (vehicleType()) {
    case MAV_TYPE_VTOL_DUOROTOR:
    case MAV_TYPE_VTOL_QUADROTOR:
    case MAV_TYPE_VTOL_TILTROTOR:
    case MAV_TYPE_VTOL_RESERVED2:
    case MAV_TYPE_VTOL_RESERVED3:
    case MAV_TYPE_VTOL_RESERVED4:
    case MAV_TYPE_VTOL_RESERVED5:
        return true;
    default:
        return false;
    }
}

bool Vehicle::supportsManualControl(void) const
{
    return _firmwarePlugin->supportsManualControl();
}

bool Vehicle::supportsThrottleModeCenterZero(void) const
{
    return _firmwarePlugin->supportsThrottleModeCenterZero();
}

bool Vehicle::supportsRadio(void) const
{
    return _firmwarePlugin->supportsRadio();
}

bool Vehicle::supportsJSButton(void) const
{
    return _firmwarePlugin->supportsJSButton();
}

void Vehicle::_setCoordinateValid(bool coordinateValid)
{
    if (coordinateValid != _coordinateValid) {
        _coordinateValid = coordinateValid;
        emit coordinateValidChanged(_coordinateValid);
    }
}

QString Vehicle::vehicleTypeName() const {
    static QMap<int, QString> typeNames = {
        { MAV_TYPE_GENERIC,         tr("Generic micro air vehicle" )},
        { MAV_TYPE_FIXED_WING,      tr("Fixed wing aircraft")},
        { MAV_TYPE_QUADROTOR,       tr("Quadrotor")},
        { MAV_TYPE_COAXIAL,         tr("Coaxial helicopter")},
        { MAV_TYPE_HELICOPTER,      tr("Normal helicopter with tail rotor.")},
        { MAV_TYPE_ANTENNA_TRACKER, tr("Ground installation")},
        { MAV_TYPE_GCS,             tr("Operator control unit / ground control station")},
        { MAV_TYPE_AIRSHIP,         tr("Airship, controlled")},
        { MAV_TYPE_FREE_BALLOON,    tr("Free balloon, uncontrolled")},
        { MAV_TYPE_ROCKET,          tr("Rocket")},
        { MAV_TYPE_GROUND_ROVER,    tr("Ground rover")},
        { MAV_TYPE_SURFACE_BOAT,    tr("Surface vessel, boat, ship")},
        { MAV_TYPE_SUBMARINE,       tr("Submarine")},
        { MAV_TYPE_HEXAROTOR,       tr("Hexarotor")},
        { MAV_TYPE_OCTOROTOR,       tr("Octorotor")},
        { MAV_TYPE_TRICOPTER,       tr("Octorotor")},
        { MAV_TYPE_FLAPPING_WING,   tr("Flapping wing")},
        { MAV_TYPE_KITE,            tr("Flapping wing")},
        { MAV_TYPE_ONBOARD_CONTROLLER, tr("Onboard companion controller")},
        { MAV_TYPE_VTOL_DUOROTOR,   tr("Two-rotor VTOL using control surfaces in vertical operation in addition. Tailsitter")},
        { MAV_TYPE_VTOL_QUADROTOR,  tr("Quad-rotor VTOL using a V-shaped quad config in vertical operation. Tailsitter")},
        { MAV_TYPE_VTOL_TILTROTOR,  tr("Tiltrotor VTOL")},
        { MAV_TYPE_VTOL_RESERVED2,  tr("VTOL reserved 2")},
        { MAV_TYPE_VTOL_RESERVED3,  tr("VTOL reserved 3")},
        { MAV_TYPE_VTOL_RESERVED4,  tr("VTOL reserved 4")},
        { MAV_TYPE_VTOL_RESERVED5,  tr("VTOL reserved 5")},
        { MAV_TYPE_GIMBAL,          tr("Onboard gimbal")},
        { MAV_TYPE_ADSB,            tr("Onboard ADSB peripheral")},
    };
    return typeNames[_vehicleType];
}

/// Returns the string to speak to identify the vehicle
QString Vehicle::_vehicleIdSpeech(void)
{
    if (qgcApp()->toolbox()->multiVehicleManager()->vehicles()->count() > 1) {
        return QString("vehicle %1").arg(id());
    } else {
        return QString();
    }
}

void Vehicle::_handleFlightModeChanged(const QString& flightMode)
{
    _say(QString("%1 %2 flight mode").arg(_vehicleIdSpeech()).arg(flightMode));
    emit guidedModeChanged(_firmwarePlugin->isGuidedMode(this));
}

void Vehicle::_announceArmedChanged(bool armed)
{
    _say(QString("%1 %2").arg(_vehicleIdSpeech()).arg(armed ? QStringLiteral("armed") : QStringLiteral("disarmed")));
}

void Vehicle::clearTrajectoryPoints(void)
{
    _mapTrajectoryList.clearAndDeleteContents();
}

void Vehicle::setFlying(bool flying)
{
    if (armed() && _flying != flying) {
        _flying = flying;
        emit flyingChanged(flying);
    }
}

bool Vehicle::guidedModeSupported(void) const
{
    return _firmwarePlugin->isCapable(this, FirmwarePlugin::GuidedModeCapability);
}

bool Vehicle::pauseVehicleSupported(void) const
{
    return _firmwarePlugin->isCapable(this, FirmwarePlugin::PauseVehicleCapability);
}

bool Vehicle::orbitModeSupported() const
{
    return _firmwarePlugin->isCapable(this, FirmwarePlugin::OrbitModeCapability);
}

void Vehicle::guidedModeRTL(void)
{
    if (!guidedModeSupported()) {
        qgcApp()->showMessage(guided_mode_not_supported_by_vehicle);
        return;
    }
    _firmwarePlugin->guidedModeRTL(this);
}

void Vehicle::guidedModeLand(void)
{
    if (!guidedModeSupported()) {
        qgcApp()->showMessage(guided_mode_not_supported_by_vehicle);
        return;
    }
    _firmwarePlugin->guidedModeLand(this);
}

void Vehicle::guidedModeTakeoff(double altitudeRel)
{
    if (!guidedModeSupported()) {
        qgcApp()->showMessage(guided_mode_not_supported_by_vehicle);
        return;
    }
    setGuidedMode(true);
    _firmwarePlugin->guidedModeTakeoff(this, altitudeRel);
}

void Vehicle::guidedModeGotoLocation(const QGeoCoordinate& gotoCoord)
{
    if (!guidedModeSupported()) {
        qgcApp()->showMessage(guided_mode_not_supported_by_vehicle);
        return;
    }
    _firmwarePlugin->guidedModeGotoLocation(this, gotoCoord);
}

void Vehicle::guidedModeChangeAltitude(double altitudeRel)
{
    if (!guidedModeSupported()) {
        qgcApp()->showMessage(guided_mode_not_supported_by_vehicle);
        return;
    }
    _firmwarePlugin->guidedModeChangeAltitude(this, altitudeRel);
}

void Vehicle::guidedModeOrbit(const QGeoCoordinate& centerCoord, double radius, double velocity, double altitude)
{
    if (!orbitModeSupported()) {
        qgcApp()->showMessage(QStringLiteral("Orbit mode not supported by Vehicle."));
        return;
    }
    _firmwarePlugin->guidedModeOrbit(this, centerCoord, radius, velocity, altitude);
}

void Vehicle::pauseVehicle(void)
{
    if (!pauseVehicleSupported()) {
        qgcApp()->showMessage(QStringLiteral("Pause not supported by vehicle."));
        return;
    }
    _firmwarePlugin->pauseVehicle(this);
}

bool Vehicle::guidedMode(void) const
{
    return _firmwarePlugin->isGuidedMode(this);
}

void Vehicle::setGuidedMode(bool guidedMode)
{
    return _firmwarePlugin->setGuidedMode(this, guidedMode);
}

void Vehicle::emergencyStop(void)
{
    mavlink_message_t msg;
    mavlink_command_long_t cmd;

    cmd.command = (uint16_t)MAV_CMD_COMPONENT_ARM_DISARM;
    cmd.confirmation = 0;
    cmd.param1 = 0.0f;
    cmd.param2 = 21196.0f;  // Magic number for emergency stop
    cmd.param3 = 0.0f;
    cmd.param4 = 0.0f;
    cmd.param5 = 0.0f;
    cmd.param6 = 0.0f;
    cmd.param7 = 0.0f;
    cmd.target_system = id();
    cmd.target_component = defaultComponentId();
    mavlink_msg_command_long_encode_chan(_mavlink->getSystemId(),
                                         _mavlink->getComponentId(),
                                         priorityLink()->mavlinkChannel(),
                                         &msg,
                                         &cmd);

    sendMessageOnLink(priorityLink(), msg);
}

void Vehicle::setCurrentMissionSequence(int seq)
{
    if (!_firmwarePlugin->sendHomePositionToVehicle()) {
        seq--;
    }
    mavlink_message_t msg;
    mavlink_msg_mission_set_current_pack_chan(_mavlink->getSystemId(),
                                              _mavlink->getComponentId(),
                                              priorityLink()->mavlinkChannel(),
                                              &msg,
                                              id(),
                                              _compID,
                                              seq);
    sendMessageOnLink(priorityLink(), msg);
}

void Vehicle::doCommandLong(int component, MAV_CMD command, float param1, float param2, float param3, float param4, float param5, float param6, float param7)
{
    mavlink_message_t       msg;
    mavlink_command_long_t  cmd;

    cmd.command = command;
    cmd.confirmation = 0;
    cmd.param1 = param1;
    cmd.param2 = param2;
    cmd.param3 = param3;
    cmd.param4 = param4;
    cmd.param5 = param5;
    cmd.param6 = param6;
    cmd.param7 = param7;
    cmd.target_system = id();
    cmd.target_component = component;
    mavlink_msg_command_long_encode_chan(_mavlink->getSystemId(),
                                         _mavlink->getComponentId(),
                                         priorityLink()->mavlinkChannel(),
                                         &msg,
                                         &cmd);

    sendMessageOnLink(priorityLink(), msg);
}

void Vehicle::setPrearmError(const QString& prearmError)
{
    _prearmError = prearmError;
    emit prearmErrorChanged(_prearmError);
    if (!_prearmError.isEmpty()) {
        _prearmErrorTimer.start();
    }
}

void Vehicle::_prearmErrorTimeout(void)
{
    setPrearmError(QString());
}

void Vehicle::setFirmwareVersion(int majorVersion, int minorVersion, int patchVersion, FIRMWARE_VERSION_TYPE versionType)
{
    _firmwareMajorVersion = majorVersion;
    _firmwareMinorVersion = minorVersion;
    _firmwarePatchVersion = patchVersion;
    _firmwareVersionType = versionType;
    emit firmwareMajorVersionChanged(_firmwareMajorVersion);
    emit firmwareMinorVersionChanged(_firmwareMinorVersion);
    emit firmwarePatchVersionChanged(_firmwarePatchVersion);
    emit firmwareVersionTypeChanged(_firmwareVersionType);
}

QString Vehicle::firmwareVersionTypeString(void) const
{
    switch (_firmwareVersionType) {
    case FIRMWARE_VERSION_TYPE_DEV:
        return QStringLiteral("dev");
    case FIRMWARE_VERSION_TYPE_ALPHA:
        return QStringLiteral("alpha");
    case FIRMWARE_VERSION_TYPE_BETA:
        return QStringLiteral("beta");
    case FIRMWARE_VERSION_TYPE_RC:
        return QStringLiteral("rc");
    case FIRMWARE_VERSION_TYPE_OFFICIAL:
    default:
        return QStringLiteral("");
    }
}

void Vehicle::rebootVehicle()
{
    doCommandLong(defaultComponentId(), MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f);
}

int Vehicle::defaultComponentId(void)
{
    return _parameterManager->defaultComponentId();
}

void Vehicle::setSoloFirmware(bool soloFirmware)
{
    if (soloFirmware != _soloFirmware) {
        _soloFirmware = soloFirmware;
        emit soloFirmwareChanged(soloFirmware);
    }
}

#if 0
    // Temporarily removed, waiting for new command implementation
void Vehicle::motorTest(int motor, int percent, int timeoutSecs)
{
    doCommandLong(defaultComponentId(), MAV_CMD_DO_MOTOR_TEST, motor, MOTOR_TEST_THROTTLE_PERCENT, percent, timeoutSecs);
}
#endif

void Vehicle::_newMissionItemsAvailable(void)
{
    // After the initial mission request complets we ask for the geofence
    if (!_geoFenceManagerInitialRequestSent) {
        _geoFenceManagerInitialRequestSent = true;
        _geoFenceManager->loadFromVehicle();
    }
}

void Vehicle::_newGeoFenceAvailable(void)
{
    // After the initial mission request complets we ask for the geofence
    if (!_rallyPointManagerInitialRequestSent) {
        _rallyPointManagerInitialRequestSent = true;
        _rallyPointManager->loadFromVehicle();
    }
}

QString Vehicle::brandImage(void) const
{
    return _firmwarePlugin->brandImage(this);
}

QStringList Vehicle::unhealthySensors(void) const
{
    QStringList sensorList;

    struct sensorInfo_s {
        uint32_t    bit;
        const char* sensorName;
    };

    static const sensorInfo_s rgSensorInfo[] = {
        { MAV_SYS_STATUS_SENSOR_3D_GYRO,                "Gyro" },
        { MAV_SYS_STATUS_SENSOR_3D_ACCEL,               "Accelerometer" },
        { MAV_SYS_STATUS_SENSOR_3D_MAG,                 "Magnetometer" },
        { MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE,      "Absolute pressure" },
        { MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE,  "Differential pressure" },
        { MAV_SYS_STATUS_SENSOR_GPS,                    "GPS" },
        { MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW,           "Optical flow" },
        { MAV_SYS_STATUS_SENSOR_VISION_POSITION,        "Computer vision position" },
        { MAV_SYS_STATUS_SENSOR_LASER_POSITION,         "Laser based position" },
        { MAV_SYS_STATUS_SENSOR_EXTERNAL_GROUND_TRUTH,  "External ground truth" },
        { MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL,   "Angular rate control" },
        { MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION, "Attitude stabilization" },
        { MAV_SYS_STATUS_SENSOR_YAW_POSITION,           "Yaw position" },
        { MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL,     "Z/altitude control" },
        { MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL,    "X/Y position control" },
        { MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS,          "Motor outputs / control" },
        { MAV_SYS_STATUS_SENSOR_RC_RECEIVER,            "RC receiver" },
        { MAV_SYS_STATUS_SENSOR_3D_GYRO2,               "Gyro 2" },