UAS.cc

    mavlink_command_long_t cmd;
    cmd.command = (uint8_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::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 = (uint8_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);
}

/**
 * Depending on the UAS, this might make the rotors of a helicopter spinning
 *
 **/
void UAS::armSystem()
{
    mavlink_message_t msg;
    mavlink_msg_set_mode_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), mode, navMode | MAV_MODE_FLAG_SAFETY_ARMED);
    sendMessage(msg);
}

/**
 * @warning Depending on the UAS, this might completely stop all motors.
 *
 **/
void UAS::disarmSystem()
{
    mavlink_message_t msg;
    mavlink_msg_set_mode_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), mode, navMode & !MAV_MODE_FLAG_SAFETY_ARMED);
    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 system has manual inputs enabled and is armed
    if((mode & MAV_MODE_FLAG_DECODE_POSITION_MANUAL) && (mode & MAV_MODE_FLAG_DECODE_POSITION_SAFETY))
    {
        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::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);
}

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 / to land on the runway **/
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);
}

/**
 * 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;
}

void UAS::enableHil(bool enable)
{
    // Connect Flight Gear Link
    if (enable)
    {
        startHil();
    }
    else
    {
        stopHil();
    }
}

/**
* @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)
*/
void UAS::sendHilState(uint64_t time_us, float roll, float pitch, float yaw, float rollspeed,
                    float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt,
                    int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc)
{
    mavlink_message_t msg;
    mavlink_msg_hil_state_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, time_us, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed, lat, lon, alt, vx, vy, vz, xacc, yacc, zacc);
    sendMessage(msg);
}


void UAS::startHil()
{
    // Connect Flight Gear Link
    simulation->connectSimulation();
    mavlink_message_t msg;
    mavlink_msg_set_mode_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), mode | MAV_MODE_FLAG_HIL_ENABLED, navMode);
    sendMessage(msg);
}

void UAS::stopHil()
{
    simulation->disconnectSimulation();
    mavlink_message_t msg;
    mavlink_msg_set_mode_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), mode & !MAV_MODE_FLAG_HIL_ENABLED, navMode);
    sendMessage(msg);
}


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;
        mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_ALL, MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN, 1, 0, 2, 0, 0, 0, 0, 0);
        sendMessage(msg);
        result = true;
    }
}

void UAS::setTargetPosition(float x, float y, float z, float yaw)
{
    mavlink_message_t msg;
    mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_ALL, MAV_CMD_NAV_PATHPLANNING, 1, 2, 3, 0, yaw, x, y, z);
    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;
}

const QString& UAS::getShortState() const
{
    return shortStateText;
}

QString UAS::getShortModeTextFor(int id)
{
    QString mode;
    uint8_t modeid = id;

    qDebug() << "MODE:" << modeid;

    // BASE MODE DECODING
    if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_AUTO)
    {
        mode += "AUTO";
    }
    if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_GUIDED)
    {
        mode += "GUIDED";
    }
    if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_STABILIZE)
    {
        mode += "STABILIZED";
    }
    if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_TEST)
    {
        mode += "TEST";
    }
    if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_MANUAL)
    {
        mode += "MANUAL";
    }

    if (modeid == 0)
    {
        mode = "PREFLIGHT";
    }

    // ARMED STATE DECODING
    if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_SAFETY)
    {
        mode.prepend("A|");
    }
    else
    {
        mode.prepend("D|");
    }

    // HARDWARE IN THE LOOP DECODING
    if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_HIL)
    {
        mode.prepend("HIL:");
    }

    return mode;
}

const QString& UAS::getShortMode() const
{
    return shortModeText;
}

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

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


QList<LinkInterface*>* UAS::getLinks()
{
    return links;
}

QMap<int, QString> UAS::getComponents()
{
    return components;
}



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)
{
    if (specs.length() == 0 || specs.contains("%"))
    {
        batteryRemainingEstimateEnabled = false;
        bool ok;
        QString percent = specs;
        percent = percent.remove("%");
        float temp = percent.toFloat(&ok);
        if (ok)
        {
            warnLevelPercent = temp;
        }
        else
        {
            emit textMessageReceived(0, 0, 0, "Could not set battery options, format is wrong");
        }
    }
    else
    {
        batteryRemainingEstimateEnabled = true;
        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;
        }
        else
        {
            emit textMessageReceived(0, 0, 0, "Could not set battery options, format is wrong");
        }
    }
}

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

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
 */
float UAS::getChargeLevel()
{
    if (batteryRemainingEstimateEnabled)
    {
        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(2500, GAudioOutput::instance(), SLOT(startEmergency()));
        lowBattAlarm = true;
    }
}

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