UAS.cc

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

bool UAS::isRotaryWing()
{
    switch (type) {
        case MAV_TYPE_QUADROTOR:
        /* fallthrough */
        case MAV_TYPE_COAXIAL:
        case MAV_TYPE_HELICOPTER:
        case MAV_TYPE_HEXAROTOR:
        case MAV_TYPE_OCTOROTOR:
        case MAV_TYPE_TRICOPTER:
            return true;
        default:
            return false;
    }
}

bool UAS::isFixedWing()
{
    switch (type) {
        case MAV_TYPE_FIXED_WING:
            return true;
        default:
            return false;
    }
}

/**
* @param rate The update rate in Hz the message should be sent
*/
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);
}

/**
* @param rate The update rate in Hz the message should be sent
*/
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);
}

/**
* @param rate The update rate in Hz the message should be sent
*/
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);
}

/**
* @param rate The update rate in Hz the message should be sent
*/
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);
#endif
}

/**
* @param rate The update rate in Hz the message should be sent
*/
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);
}

//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);
//}

/**
* @param rate The update rate in Hz the message should be sent
*/
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);
}

/**
* @param rate The update rate in Hz the message should be sent
*/
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);
}

/**
* @param rate The update rate in Hz the message should be sent
*/
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);
}

/**
* @param rate The update rate in Hz the message should be sent
*/
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);
}

//TODO update this to use the parameter manager / param data model instead
void UAS::processParamValueMsg(mavlink_message_t& msg, const QString& paramName, const mavlink_param_value_t& rawValue,  mavlink_param_union_t& paramUnion)
{
    int compId = msg.compid;

    QVariant paramValue;

    // Insert with correct type
    // TODO: This is a hack for MAV_AUTOPILOT_ARDUPILOTMEGA until the new version of MAVLink and a fix for their param handling.

    switch (rawValue.param_type) {
        case MAV_PARAM_TYPE_REAL32:
            if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
                paramValue = QVariant(paramUnion.param_float);
            } else {
                paramValue = QVariant(paramUnion.param_float);
            }
            break;

        case MAV_PARAM_TYPE_UINT8:
            if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
                paramValue = QVariant((unsigned short)paramUnion.param_float);
            } else {
                paramValue = QVariant(paramUnion.param_uint8);
            }
            break;

        case MAV_PARAM_TYPE_INT8:
            if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
                paramValue = QVariant((short)paramUnion.param_float);
            } else  {
                paramValue = QVariant(paramUnion.param_int8);
            }
            break;

        case MAV_PARAM_TYPE_INT16:
            if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
                paramValue = QVariant((short)paramUnion.param_float);
            } else {
                paramValue = QVariant(paramUnion.param_int16);
            }
            break;

        case MAV_PARAM_TYPE_UINT32:
            if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
                paramValue = QVariant((unsigned int)paramUnion.param_float);
            } else {
                paramValue = QVariant(paramUnion.param_uint32);
            }
            break;
        case MAV_PARAM_TYPE_INT32:
            if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
                paramValue = QVariant((int)paramUnion.param_float);
            } else {
                paramValue = QVariant(paramUnion.param_int32);
            }
            break;

        default:
            qCritical() << "INVALID DATA TYPE USED AS PARAMETER VALUE: " << rawValue.param_type;
    }

    qCDebug(UASLog) << "Received PARAM_VALUE" << paramName << paramValue << rawValue.param_type;

    emit parameterUpdate(uasId, compId, paramName, rawValue.param_count, rawValue.param_index, rawValue.param_type, paramValue);
}

/**
* @param systemType Type of MAV.
*/
void UAS::setSystemType(int systemType)
{
    if((systemType >= MAV_TYPE_GENERIC) && (systemType < MAV_TYPE_ENUM_END))
    {
      type = systemType;

      // If the airframe is still generic, change it to a close default type
      if (airframe == 0)
      {
          switch (type)
          {
          case MAV_TYPE_FIXED_WING:
              setAirframe(UASInterface::QGC_AIRFRAME_EASYSTAR);
              break;
          case MAV_TYPE_QUADROTOR:
              setAirframe(UASInterface::QGC_AIRFRAME_CHEETAH);
              break;
          case MAV_TYPE_HEXAROTOR:
              setAirframe(UASInterface::QGC_AIRFRAME_HEXCOPTER);
              break;
          default:
              // Do nothing
              break;
          }
      }
      emit systemSpecsChanged(uasId);
      emit systemTypeSet(this, type);
      qDebug() << "TYPE CHANGED TO:" << type;
   }
}

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

void UAS::executeCommand(MAV_CMD command)
{
    mavlink_message_t msg;
    mavlink_command_long_t cmd;
    cmd.command = (uint16_t)command;
    cmd.confirmation = 0;
    cmd.param1 = 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 = uasId;
    cmd.target_component = 0;
    mavlink_msg_command_long_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &cmd);
    sendMessage(msg);
}
void UAS::executeCommandAck(int num, bool success)
{
    mavlink_message_t msg;
    mavlink_command_ack_t ack;
    ack.command = num;
    ack.result = (success ? 1 : 0);
    mavlink_msg_command_ack_encode(mavlink->getSystemId(),mavlink->getComponentId(),&msg,&ack);
    sendMessage(msg);
}

void UAS::executeCommand(MAV_CMD command, int confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7, int component)
{
    mavlink_message_t msg;
    mavlink_command_long_t cmd;
    cmd.command = (uint16_t)command;
    cmd.confirmation = confirmation;
    cmd.param1 = param1;
    cmd.param2 = param2;
    cmd.param3 = param3;
    cmd.param4 = param4;
    cmd.param5 = param5;
    cmd.param6 = param6;
    cmd.param7 = param7;
    cmd.target_system = uasId;
    cmd.target_component = component;
    mavlink_msg_command_long_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &cmd);
    sendMessage(msg);
}

/**
 * Launches the system
 *
 */
void UAS::launch()
{
    mavlink_message_t msg;
    mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), 0, MAV_CMD_NAV_TAKEOFF, 1, 0, 0, 0, 0, 0, 0, 0);
    sendMessage(msg);
}

/**
 * @warning Depending on the UAS, this might make the rotors of a helicopter spinning
 *
 */
void UAS::armSystem()
{
    setModeArm(base_mode | MAV_MODE_FLAG_SAFETY_ARMED, custom_mode);
}

/**
 * @warning Depending on the UAS, this might completely stop all motors.
 *
 */
void UAS::disarmSystem()
{
    setModeArm(base_mode & ~(MAV_MODE_FLAG_SAFETY_ARMED), custom_mode);
}

void UAS::toggleArmedState()
{
    setModeArm(base_mode ^ (MAV_MODE_FLAG_SAFETY_ARMED), custom_mode);
}

void UAS::goAutonomous()
{
    setMode((base_mode & ~(MAV_MODE_FLAG_MANUAL_INPUT_ENABLED)) | (MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED), 0);
    qDebug() << __FILE__ << __LINE__ << "Going autonomous";
}

void UAS::goManual()
{
    setMode((base_mode & ~(MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED))  | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED, 0);
    qDebug() << __FILE__ << __LINE__ << "Going manual";
}

void UAS::toggleAutonomy()
{
    setMode(base_mode ^ MAV_MODE_FLAG_AUTO_ENABLED ^ MAV_MODE_FLAG_MANUAL_INPUT_ENABLED ^ MAV_MODE_FLAG_GUIDED_ENABLED ^ MAV_MODE_FLAG_STABILIZE_ENABLED, 0);
    qDebug() << __FILE__ << __LINE__ << "Toggling autonomy";
}

/**
* Set the manual control commands.
* This can only be done if the system has manual inputs enabled and is armed.
*/
#ifndef __mobile__
void UAS::setExternalControlSetpoint(float roll, float pitch, float yaw, float thrust, qint8 xHat, qint8 yHat, quint16 buttons, quint8 joystickMode)
{
    Q_UNUSED(xHat);
    Q_UNUSED(yHat);

    // Store the previous manual commands
    static float manualRollAngle = 0.0;
    static float manualPitchAngle = 0.0;
    static float manualYawAngle = 0.0;
    static float manualThrust = 0.0;
    static quint16 manualButtons = 0;
    static quint8 countSinceLastTransmission = 0; // Track how many calls to this function have occurred since the last MAVLink transmission

    // Transmit the external setpoints only if they've changed OR if it's been a little bit since they were last transmit. To make sure there aren't issues with
    // response rate, we make sure that a message is transmit when the commands have changed, then one more time, and then switch to the lower transmission rate
    // if no command inputs have changed.

    // The default transmission rate is 25Hz, but when no inputs have changed it drops down to 5Hz.
    bool sendCommand = false;
    if (countSinceLastTransmission++ >= 5) {
        sendCommand = true;
        countSinceLastTransmission = 0;
    } else if ((!isnan(roll) && roll != manualRollAngle) || (!isnan(pitch) && pitch != manualPitchAngle) ||
             (!isnan(yaw) && yaw != manualYawAngle) || (!isnan(thrust) && thrust != manualThrust) ||
             buttons != manualButtons) {
        sendCommand = true;

        // Ensure that another message will be sent the next time this function is called
        countSinceLastTransmission = 10;
    }

    // Now if we should trigger an update, let's do that
    if (sendCommand) {
        // Save the new manual control inputs
        manualRollAngle = roll;
        manualPitchAngle = pitch;
        manualYawAngle = yaw;
        manualThrust = thrust;
        manualButtons = buttons;

        mavlink_message_t message;

        if (joystickMode == JoystickInput::JOYSTICK_MODE_ATTITUDE) {
            // send an external attitude setpoint command (rate control disabled)
            float attitudeQuaternion[4];
            mavlink_euler_to_quaternion(roll, pitch, yaw, attitudeQuaternion);
            uint8_t typeMask = 0x7; // disable rate control
            mavlink_msg_set_attitude_target_pack(mavlink->getSystemId(),
                mavlink->getComponentId(),
                &message,
                QGC::groundTimeUsecs(),
                this->uasId,
                0,
                typeMask,
                attitudeQuaternion,
                0,
                0,
                0,
                thrust
                );
        } else if (joystickMode == JoystickInput::JOYSTICK_MODE_POSITION) {
            // Send the the local position setpoint (local pos sp external message)
            static float px = 0;
            static float py = 0;
            static float pz = 0;
            //XXX: find decent scaling
            px -= pitch;
            py += roll;
            pz -= 2.0f*(thrust-0.5);
            uint16_t typeMask = (1<<11)|(7<<6)|(7<<3); // select only POSITION control
            mavlink_msg_set_position_target_local_ned_pack(mavlink->getSystemId(),
                    mavlink->getComponentId(),
                    &message,
                    QGC::groundTimeUsecs(),
                    this->uasId,
                    0,
                    MAV_FRAME_LOCAL_NED,
                    typeMask,
                    px,
                    py,
                    pz,
                    0,
                    0,
                    0,
                    0,
                    0,
                    0,
                    yaw,
                    0
                    );
        } else if (joystickMode == JoystickInput::JOYSTICK_MODE_FORCE) {
            // Send the the force setpoint (local pos sp external message)
            float dcm[3][3];
            mavlink_euler_to_dcm(roll, pitch, yaw, dcm);
            const float fx = -dcm[0][2] * thrust;
            const float fy = -dcm[1][2] * thrust;
            const float fz = -dcm[2][2] * thrust;
            uint16_t typeMask = (3<<10)|(7<<3)|(7<<0)|(1<<9); // select only FORCE control (disable everything else)
            mavlink_msg_set_position_target_local_ned_pack(mavlink->getSystemId(),
                    mavlink->getComponentId(),
                    &message,
                    QGC::groundTimeUsecs(),
                    this->uasId,
                    0,
                    MAV_FRAME_LOCAL_NED,
                    typeMask,
                    0,
                    0,
                    0,
                    0,
                    0,
                    0,
                    fx,
                    fy,
                    fz,
                    0,
                    0
                    );
        } else if (joystickMode == JoystickInput::JOYSTICK_MODE_VELOCITY) {
            // Send the the local velocity setpoint (local pos sp external message)
            static float vx = 0;
            static float vy = 0;
            static float vz = 0;
            static float yawrate = 0;
            //XXX: find decent scaling
            vx -= pitch;
            vy += roll;
            vz -= 2.0f*(thrust-0.5);
            yawrate += yaw; //XXX: not sure what scale to apply here
            uint16_t typeMask = (1<<10)|(7<<6)|(7<<0); // select only VELOCITY control
            mavlink_msg_set_position_target_local_ned_pack(mavlink->getSystemId(),
                    mavlink->getComponentId(),
                    &message,
                    QGC::groundTimeUsecs(),
                    this->uasId,
                    0,
                    MAV_FRAME_LOCAL_NED,
                    typeMask,
                    0,
                    0,
                    0,
                    vx,
                    vy,
                    vz,
                    0,
                    0,
                    0,
                    0,
                    yawrate
                    );
        } else if (joystickMode == JoystickInput::JOYSTICK_MODE_MANUAL) {

            // Save the new manual control inputs
            manualRollAngle = roll;
            manualPitchAngle = pitch;
            manualYawAngle = yaw;
            manualThrust = thrust;
            manualButtons = buttons;

            // Store scaling values for all 3 axes
            const float axesScaling = 1.0 * 1000.0;

            // Calculate the new commands for roll, pitch, yaw, and thrust
            const float newRollCommand = roll * axesScaling;
            // negate pitch value because pitch is negative for pitching forward but mavlink message argument is positive for forward
            const float newPitchCommand = -pitch * axesScaling;
            const float newYawCommand = yaw * axesScaling;
            const float newThrustCommand = thrust * axesScaling;

            // Send the MANUAL_COMMAND message
            mavlink_msg_manual_control_pack(mavlink->getSystemId(), mavlink->getComponentId(), &message, this->uasId, newPitchCommand, newRollCommand, newThrustCommand, newYawCommand, buttons);
        }

        sendMessage(message);
        // Emit an update in control values to other UI elements, like the HSI display
        emit attitudeThrustSetPointChanged(this, roll, pitch, yaw, thrust, QGC::groundTimeMilliseconds());
    }
}
#endif

#ifndef __mobile__
void UAS::setManual6DOFControlCommands(double x, double y, double z, double roll, double pitch, double yaw)
{
    // If system has manual inputs enabled and is armed
    if(((base_mode & MAV_MODE_FLAG_DECODE_POSITION_MANUAL) && (base_mode & MAV_MODE_FLAG_DECODE_POSITION_SAFETY)) || (base_mode & MAV_MODE_FLAG_HIL_ENABLED))
    {
        mavlink_message_t message;
        float q[4];
        mavlink_euler_to_quaternion(roll, pitch, yaw, q);

        float yawrate = 0.0f;

        // Do not control rates and throttle
        quint8 mask = (1 << 0) | (1 << 1) | (1 << 2); // ignore rates
        mask |= (1 << 6); // ignore throttle
        mavlink_msg_set_attitude_target_pack(mavlink->getSystemId(), mavlink->getComponentId(),
                                             &message, QGC::groundTimeMilliseconds(), this->uasId, 0,
                                             mask, q, 0, 0, 0, 0);
        sendMessage(message);
        quint16 position_mask = (1 << 3) | (1 << 4) | (1 << 5) |
            (1 << 6) | (1 << 7) | (1 << 8);
        mavlink_msg_set_position_target_local_ned_pack(mavlink->getSystemId(), mavlink->getComponentId(),
                                                       &message, QGC::groundTimeMilliseconds(), this->uasId, 0,
                                                       MAV_FRAME_LOCAL_NED, position_mask, x, y, z, 0, 0, 0, 0, 0, 0, yaw, yawrate);
        sendMessage(message);
        qDebug() << __FILE__ << __LINE__ << ": SENT 6DOF CONTROL MESSAGES: x" << x << " y: " << y << " z: " << z << " roll: " << roll << " pitch: " << pitch << " yaw: " << yaw;

        //emit attitudeThrustSetPointChanged(this, roll, pitch, yaw, thrust, QGC::groundTimeMilliseconds());
    }
    else
    {
        qDebug() << "3DMOUSE/MANUAL CONTROL: IGNORING COMMANDS: Set mode to MANUAL to send 3DMouse commands first";
    }
}
#endif

/**
* @return the type of the system
*/
int UAS::getSystemType()
{
    return this->type;
}

/** @brief Is it an airplane (or like one)?,..)*/
bool UAS::isAirplane()
{
    switch(this->type) {
        case MAV_TYPE_GENERIC:
        case MAV_TYPE_FIXED_WING:
        case MAV_TYPE_AIRSHIP:
        case MAV_TYPE_FLAPPING_WING:
            return true;
        default:
            break;
    }
    return false;
}

/**
* Halt the uas.
*/
void UAS::halt()
{
    mavlink_message_t msg;
    mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_ALL, MAV_CMD_OVERRIDE_GOTO, 1, MAV_GOTO_DO_HOLD, MAV_GOTO_HOLD_AT_CURRENT_POSITION, 0, 0, 0, 0, 0);
    sendMessage(msg);
}

/**
* Make the UAS move.
*/
void UAS::go()
{
    mavlink_message_t msg;
    mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_ALL, MAV_CMD_OVERRIDE_GOTO, 1, MAV_GOTO_DO_CONTINUE, MAV_GOTO_HOLD_AT_CURRENT_POSITION, 0, 0, 0, 0, 0);
    sendMessage(msg);
}

/**
* Order the robot to return home
*/
void UAS::home()
{
    mavlink_message_t msg;

    double latitude = UASManager::instance()->getHomeLatitude();
    double longitude = UASManager::instance()->getHomeLongitude();
    double altitude = UASManager::instance()->getHomeAltitude();
    int frame = UASManager::instance()->getHomeFrame();

    mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_ALL, MAV_CMD_OVERRIDE_GOTO, 1, MAV_GOTO_DO_CONTINUE, MAV_GOTO_HOLD_AT_CURRENT_POSITION, frame, 0, latitude, longitude, altitude);
    sendMessage(msg);
}

/**
* Order the robot to land on the runway
*/
void UAS::land()
{
    mavlink_message_t msg;

    mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_ALL, MAV_CMD_NAV_LAND, 1, 0, 0, 0, 0, 0, 0, 0);
    sendMessage(msg);
}

/**
* Order the robot to start receiver pairing
*/
void UAS::pairRX(int rxType, int rxSubType)
{
    mavlink_message_t msg;

    mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_ALL, MAV_CMD_START_RX_PAIR, 0, rxType, rxSubType, 0, 0, 0, 0, 0);
    sendMessage(msg);
}

/**
 * The MAV starts the emergency landing procedure. The behaviour depends on the onboard implementation
 * and might differ between systems.
 */
void UAS::emergencySTOP()
{
    // FIXME MAVLINKV10PORTINGNEEDED
    halt();
}

/**
 * Shut down this mav - All onboard 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()
{
    halt();
    // FIXME MAVLINKV10PORTINGNEEDED
    //    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;
    return false;
}

/**
* If enabled, connect the flight gear link.
*/
#ifndef __mobile__
void UAS::enableHilFlightGear(bool enable, QString options, bool sensorHil, QObject * configuration)
{
    Q_UNUSED(configuration);

    QGCFlightGearLink* link = dynamic_cast<QGCFlightGearLink*>(simulation);
    if (!link || !simulation) {
        // Delete wrong sim
        if (simulation) {
            stopHil();
            delete simulation;
        }
        simulation = new QGCFlightGearLink(this, options);
    }
    // Connect Flight Gear Link
    link = dynamic_cast<QGCFlightGearLink*>(simulation);
    link->setStartupArguments(options);
    link->sensorHilEnabled(sensorHil);
    // FIXME: this signal is not on the base hil configuration widget, only on the FG widget
    //QObject::connect(configuration, SIGNAL(barometerOffsetChanged(float)), link, SLOT(setBarometerOffset(float)));
    if (enable)
    {
        startHil();
    }
    else
    {
        stopHil();
    }
}
#endif

/**
* If enabled, connect the JSBSim link.
*/
#ifndef __mobile__
void UAS::enableHilJSBSim(bool enable, QString options)
{
    QGCJSBSimLink* link = dynamic_cast<QGCJSBSimLink*>(simulation);
    if (!link || !simulation) {
        // Delete wrong sim
        if (simulation) {
            stopHil();
            delete simulation;
        }
        simulation = new QGCJSBSimLink(this, options);
    }
    // Connect Flight Gear Link
    link = dynamic_cast<QGCJSBSimLink*>(simulation);
    link->setStartupArguments(options);
    if (enable)
    {
        startHil();
    }
    else
    {
        stopHil();
    }
}
#endif

/**
* If enabled, connect the X-plane gear link.
*/
#ifndef __mobile__
void UAS::enableHilXPlane(bool enable)
{
    QGCXPlaneLink* link = dynamic_cast<QGCXPlaneLink*>(simulation);
    if (!link || !simulation) {
        if (simulation) {
            stopHil();
            delete simulation;
        }
        qDebug() << "CREATED NEW XPLANE LINK";
        simulation = new QGCXPlaneLink(this);
    }
    // Connect X-Plane Link
    if (enable)
    {
        startHil();
    }
    else
    {
        stopHil();
    }
}
#endif

/**
* @param time_us Timestamp (microseconds since UNIX epoch or microseconds since system boot)
* @param roll Roll angle (rad)
* @param pitch Pitch angle (rad)
* @param yaw Yaw angle (rad)
* @param rollspeed Roll angular speed (rad/s)
* @param pitchspeed Pitch angular speed (rad/s)
* @param yawspeed Yaw angular speed (rad/s)
* @param lat Latitude, expressed as * 1E7
* @param lon Longitude, expressed as * 1E7
* @param alt Altitude in meters, expressed as * 1000 (millimeters)
* @param vx Ground X Speed (Latitude), expressed as m/s * 100
* @param vy Ground Y Speed (Longitude), expressed as m/s * 100
* @param vz Ground Z Speed (Altitude), expressed as m/s * 100
* @param xacc X acceleration (mg)
* @param yacc Y acceleration (mg)
* @param zacc Z acceleration (mg)
*/
#ifndef __mobile__
void UAS::sendHilGroundTruth(quint64 time_us, float roll, float pitch, float yaw, float rollspeed,
                       float pitchspeed, float yawspeed, double lat, double lon, double alt,
                       float vx, float vy, float vz, float ind_airspeed, float true_airspeed, float xacc, float yacc, float zacc)
{
    Q_UNUSED(time_us);
    Q_UNUSED(xacc);
    Q_UNUSED(yacc);
    Q_UNUSED(zacc);

        // Emit attitude for cross-check
        emit valueChanged(uasId, "roll sim", "rad", roll, getUnixTime());
        emit valueChanged(uasId, "pitch sim", "rad", pitch, getUnixTime());
        emit valueChanged(uasId, "yaw sim", "rad", yaw, getUnixTime());

        emit valueChanged(uasId, "roll rate sim", "rad/s", rollspeed, getUnixTime());
        emit valueChanged(uasId, "pitch rate sim", "rad/s", pitchspeed, getUnixTime());
        emit valueChanged(uasId, "yaw rate sim", "rad/s", yawspeed, getUnixTime());

        emit valueChanged(uasId, "lat sim", "deg", lat*1e7, getUnixTime());
        emit valueChanged(uasId, "lon sim", "deg", lon*1e7, getUnixTime());
        emit valueChanged(uasId, "alt sim", "deg", alt*1e3, getUnixTime());

        emit valueChanged(uasId, "vx sim", "m/s", vx*1e2, getUnixTime());
        emit valueChanged(uasId, "vy sim", "m/s", vy*1e2, getUnixTime());
        emit valueChanged(uasId, "vz sim", "m/s", vz*1e2, getUnixTime());

        emit valueChanged(uasId, "IAS sim", "m/s", ind_airspeed, getUnixTime());
        emit valueChanged(uasId, "TAS sim", "m/s", true_airspeed, getUnixTime());
}
#endif

/**
* @param time_us Timestamp (microseconds since UNIX epoch or microseconds since system boot)
* @param roll Roll angle (rad)
* @param pitch Pitch angle (rad)
* @param yaw Yaw angle (rad)