UAS.cc

/*===================================================================
======================================================================*/

/**
 * @file
 *   @brief Represents one unmanned aerial vehicle
 *
 *   @author Lorenz Meier <mavteam@student.ethz.ch>
 *
 */

#include <QList>
#include <QTimer>
#include <QSettings>
#include <iostream>
#include <QDebug>

#include <cmath>
#include <qmath.h>

#include <limits>
#include <cstdlib>

#include "UAS.h"
#include "LinkInterface.h"
#include "HomePositionManager.h"
#include "QGC.h"
#include "GAudioOutput.h"
#include "MAVLinkProtocol.h"
#include "QGCMAVLink.h"
#include "LinkManager.h"
#ifndef __ios__
#include "SerialLink.h"
#endif
#include <Eigen/Geometry>
#include "FirmwarePluginManager.h"
#include "QGCLoggingCategory.h"
#include "Vehicle.h"
#include "Joystick.h"
#include "QGCApplication.h"

QGC_LOGGING_CATEGORY(UASLog, "UASLog")

#define UAS_DEFAULT_BATTERY_WARNLEVEL 20

/**
* Gets the settings from the previous UAS (name, airframe, autopilot, battery specs)
* by calling readSettings. This means the new UAS will have the same settings
* as the previous one created unless one calls deleteSettings in the code after
* creating the UAS.
*/

UAS::UAS(MAVLinkProtocol* protocol, Vehicle* vehicle, FirmwarePluginManager * firmwarePluginManager) : UASInterface(),
    lipoFull(4.2f),
    lipoEmpty(3.5f),
    uasId(vehicle->id()),
    unknownPackets(),
    mavlink(protocol),
    receiveDropRate(0),
    sendDropRate(0),

    base_mode(0),
    custom_mode(0),
    status(-1),

    startVoltage(-1.0f),
    tickVoltage(10.5f),
    lastTickVoltageValue(13.0f),
    tickLowpassVoltage(12.0f),
    warnLevelPercent(UAS_DEFAULT_BATTERY_WARNLEVEL),
    currentVoltage(12.6f),
    lpVoltage(-1.0f),
    currentCurrent(0.4f),
    chargeLevel(-1),
    lowBattAlarm(false),

    startTime(QGC::groundTimeMilliseconds()),
    onboardTimeOffset(0),

    controlRollManual(true),
    controlPitchManual(true),
    controlYawManual(true),
    controlThrustManual(true),
    manualRollAngle(0),
    manualPitchAngle(0),
    manualYawAngle(0),
    manualThrust(0),

    isGlobalPositionKnown(false),

    latitude(0.0),
    longitude(0.0),
    altitudeAMSL(0.0),
    altitudeAMSLFT(0.0),
    altitudeRelative(0.0),

    satRawHDOP(1e10f),
    satRawVDOP(1e10f),
    satRawCOG(0.0),

    globalEstimatorActive(false),

    latitude_gps(0.0),
    longitude_gps(0.0),
    altitude_gps(0.0),

    speedX(0.0),
    speedY(0.0),
    speedZ(0.0),

    airSpeed(std::numeric_limits<double>::quiet_NaN()),
    groundSpeed(std::numeric_limits<double>::quiet_NaN()),
#ifndef __mobile__
    fileManager(this, vehicle),
#endif

    attitudeKnown(false),
    attitudeStamped(false),
    lastAttitude(0),

    roll(0.0),
    pitch(0.0),
    yaw(0.0),

    imagePackets(0),    // We must initialize to 0, otherwise extended data packets maybe incorrectly thought to be images

    blockHomePositionChanges(false),
    receivedMode(false),

    // Note variances calculated from flight case from this log: http://dash.oznet.ch/view/MRjW8NUNYQSuSZkbn8dEjY
    // TODO: calibrate stand-still pixhawk variances
    xacc_var(0.6457f),
    yacc_var(0.7048f),
    zacc_var(0.97885f),
    rollspeed_var(0.8126f),
    pitchspeed_var(0.6145f),
    yawspeed_var(0.5852f),
    xmag_var(0.2393f),
    ymag_var(0.2283f),
    zmag_var(0.1665f),
    abs_pressure_var(0.5802f),
    diff_pressure_var(0.5802f),
    pressure_alt_var(0.5802f),
    temperature_var(0.7145f),
    /*
    xacc_var(0.0f),
    yacc_var(0.0f),
    zacc_var(0.0f),
    rollspeed_var(0.0f),
    pitchspeed_var(0.0f),
    yawspeed_var(0.0f),
    xmag_var(0.0f),
    ymag_var(0.0f),
    zmag_var(0.0f),
    abs_pressure_var(0.0f),
    diff_pressure_var(0.0f),
    pressure_alt_var(0.0f),
    temperature_var(0.0f),
    */

#ifndef __mobile__
    simulation(0),
#endif

    // The protected members.
    connectionLost(false),
    lastVoltageWarning(0),
    lastNonNullTime(0),
    onboardTimeOffsetInvalidCount(0),
    hilEnabled(false),
    sensorHil(false),
    lastSendTimeGPS(0),
    lastSendTimeSensors(0),
    lastSendTimeOpticalFlow(0),
    _vehicle(vehicle),
    _firmwarePluginManager(firmwarePluginManager)
{

    for (unsigned int i = 0; i<255;++i)
    {
        componentID[i] = -1;
        componentMulti[i] = false;
    }

#ifndef __mobile__
    connect(_vehicle, &Vehicle::mavlinkMessageReceived, &fileManager, &FileManager::receiveMessage);
#endif

    color = UASInterface::getNextColor();
}

/**
* @ return the id of the uas
*/
int UAS::getUASID() const
{
    return uasId;
}

void UAS::receiveMessage(mavlink_message_t message)
{
    if (!components.contains(message.compid))
    {
        QString componentName;

        switch (message.compid)
        {
        case MAV_COMP_ID_ALL:
        {
            componentName = "ANONYMOUS";
            break;
        }
        case MAV_COMP_ID_IMU:
        {
            componentName = "IMU #1";
            break;
        }
        case MAV_COMP_ID_CAMERA:
        {
            componentName = "CAMERA";
            break;
        }
        case MAV_COMP_ID_MISSIONPLANNER:
        {
            componentName = "MISSIONPLANNER";
            break;
        }
        }

        components.insert(message.compid, componentName);
    }

    //    qDebug() << "UAS RECEIVED from" << message.sysid << "component" << message.compid << "msg id" << message.msgid << "seq no" << message.seq;

    // Only accept messages from this system (condition 1)
    // and only then if a) attitudeStamped is disabled OR b) attitudeStamped is enabled
    // and we already got one attitude packet
    if (message.sysid == uasId && (!attitudeStamped || (attitudeStamped && (lastAttitude != 0)) || message.msgid == MAVLINK_MSG_ID_ATTITUDE))
    {
        QString uasState;
        QString stateDescription;

        bool multiComponentSourceDetected = false;
        bool wrongComponent = false;

        switch (message.compid)
        {
        case MAV_COMP_ID_IMU_2:
            // Prefer IMU 2 over IMU 1 (FIXME)
            componentID[message.msgid] = MAV_COMP_ID_IMU_2;
            break;
        default:
            // Do nothing
            break;
        }

        // Store component ID
        if (componentID[message.msgid] == -1)
        {
            // Prefer the first component
            componentID[message.msgid] = message.compid;
        }
        else
        {
            // Got this message already
            if (componentID[message.msgid] != message.compid)
            {
                componentMulti[message.msgid] = true;
                wrongComponent = true;
            }
        }

        if (componentMulti[message.msgid] == true) multiComponentSourceDetected = true;


        switch (message.msgid)
        {
        case MAVLINK_MSG_ID_HEARTBEAT:
        {
            if (multiComponentSourceDetected && wrongComponent)
            {
                break;
            }
            mavlink_heartbeat_t state;
            mavlink_msg_heartbeat_decode(&message, &state);

            // Send the base_mode and system_status values to the plotter. This uses the ground time
            // so the Ground Time checkbox must be ticked for these values to display
            quint64 time = getUnixTime();
            QString name = QString("M%1:HEARTBEAT.%2").arg(message.sysid);
            emit valueChanged(uasId, name.arg("base_mode"), "bits", state.base_mode, time);
            emit valueChanged(uasId, name.arg("custom_mode"), "bits", state.custom_mode, time);
            emit valueChanged(uasId, name.arg("system_status"), "-", state.system_status, time);

            QString audiostring = QString("System %1").arg(uasId);
            QString stateAudio = "";
            QString modeAudio = "";
            QString navModeAudio = "";
            bool statechanged = false;
            bool modechanged = false;

            QString audiomodeText = _firmwarePluginManager->firmwarePluginForAutopilot((MAV_AUTOPILOT)state.autopilot, (MAV_TYPE)state.type)->flightMode(state.base_mode, state.custom_mode);

            if ((state.system_status != this->status) && state.system_status != MAV_STATE_UNINIT)
            {
                statechanged = true;
                this->status = state.system_status;
                getStatusForCode((int)state.system_status, uasState, stateDescription);
                emit statusChanged(this, uasState, stateDescription);
                emit statusChanged(this->status);

                // Adjust for better audio
                if (uasState == QString("STANDBY")) uasState = QString("standing by");
                if (uasState == QString("EMERGENCY")) uasState = QString("emergency condition");
                if (uasState == QString("CRITICAL")) uasState = QString("critical condition");
                if (uasState == QString("SHUTDOWN")) uasState = QString("shutting down");

                stateAudio = uasState;
            }

            if (this->base_mode != state.base_mode || this->custom_mode != state.custom_mode)
            {
                modechanged = true;
                this->base_mode = state.base_mode;
                this->custom_mode = state.custom_mode;
                modeAudio = " is now in " + audiomodeText + " flight mode";
            }

            // We got the mode
            receivedMode = true;

            // AUDIO
            if (modechanged && statechanged)
            {
                // Output both messages
                audiostring += modeAudio + " and " + stateAudio;
            }
            else if (modechanged || statechanged)
            {
                // Output the one message
                audiostring += modeAudio + stateAudio;
            }

            if (statechanged && ((int)state.system_status == (int)MAV_STATE_CRITICAL || state.system_status == (int)MAV_STATE_EMERGENCY))
            {
                _say(QString("Emergency for system %1").arg(this->getUASID()), GAudioOutput::AUDIO_SEVERITY_EMERGENCY);
                QTimer::singleShot(3000, qgcApp()->toolbox()->audioOutput(), SLOT(startEmergency()));
            }
            else if (modechanged || statechanged)
            {
                _say(audiostring.toLower());
            }
        }

            break;

        case MAVLINK_MSG_ID_SYS_STATUS:
        {
            if (multiComponentSourceDetected && wrongComponent)
            {
                break;
            }
            mavlink_sys_status_t state;
            mavlink_msg_sys_status_decode(&message, &state);

            // Prepare for sending data to the realtime plotter, which is every field excluding onboard_control_sensors_present.
            quint64 time = getUnixTime();
            QString name = QString("M%1:SYS_STATUS.%2").arg(message.sysid);
            emit valueChanged(uasId, name.arg("sensors_enabled"), "bits", state.onboard_control_sensors_enabled, time);
            emit valueChanged(uasId, name.arg("sensors_health"), "bits", state.onboard_control_sensors_health, time);
            emit valueChanged(uasId, name.arg("errors_comm"), "-", state.errors_comm, time);
            emit valueChanged(uasId, name.arg("errors_count1"), "-", state.errors_count1, time);
            emit valueChanged(uasId, name.arg("errors_count2"), "-", state.errors_count2, time);
            emit valueChanged(uasId, name.arg("errors_count3"), "-", state.errors_count3, time);
            emit valueChanged(uasId, name.arg("errors_count4"), "-", state.errors_count4, time);

            // Process CPU load.
            emit loadChanged(this,state.load/10.0f);
            emit valueChanged(uasId, name.arg("load"), "%", state.load/10.0f, time);

            currentVoltage = state.voltage_battery/1000.0f;

            if (state.voltage_battery > 0.0f && state.voltage_battery != UINT16_MAX) {
                // Battery charge/time remaining/voltage calculations
                currentVoltage = state.voltage_battery/1000.0f;
                filterVoltage(currentVoltage);
                tickLowpassVoltage = tickLowpassVoltage * 0.8f + 0.2f * currentVoltage;

                // We don't want to tick above the threshold
                if (tickLowpassVoltage > tickVoltage)
                {
                    lastTickVoltageValue = tickLowpassVoltage;
                }

                if ((startVoltage > 0.0f) && (tickLowpassVoltage < tickVoltage) && (fabs(lastTickVoltageValue - tickLowpassVoltage) > 0.1f)
                        /* warn if lower than treshold */
                        && (lpVoltage < tickVoltage)
                        /* warn only if we have at least the voltage of an empty LiPo cell, else we're sampling something wrong */
                        && (currentVoltage > 3.3f)
                        /* warn only if current voltage is really still lower by a reasonable amount */
                        && ((currentVoltage - 0.2f) < tickVoltage)
                        /* warn only every 20 seconds */
                        && (QGC::groundTimeUsecs() - lastVoltageWarning) > 20000000)
                {
                    _say(QString("Low battery system %1: %2 volts").arg(getUASID()).arg(lpVoltage, 0, 'f', 1, QChar(' ')));
                    lastVoltageWarning = QGC::groundTimeUsecs();
                    lastTickVoltageValue = tickLowpassVoltage;
                }

                if (startVoltage == -1.0f && currentVoltage > 0.1f) startVoltage = currentVoltage;
                chargeLevel = state.battery_remaining;

                emit batteryChanged(this, lpVoltage, currentCurrent, getChargeLevel(), 0);
            }

            emit valueChanged(uasId, name.arg("battery_remaining"), "%", getChargeLevel(), time);
            emit valueChanged(uasId, name.arg("battery_voltage"), "V", currentVoltage, time);

            // And if the battery current draw is measured, log that also.
            if (state.current_battery != -1)
            {
                currentCurrent = ((double)state.current_battery)/100.0f;
                emit valueChanged(uasId, name.arg("battery_current"), "A", currentCurrent, time);
            }

            // LOW BATTERY ALARM
            if (chargeLevel >= 0 && (getChargeLevel() < warnLevelPercent))
            {
                // An audio alarm. Does not generate any signals.
                startLowBattAlarm();
            }
            else
            {
                stopLowBattAlarm();
            }

            // control_sensors_enabled:
            // relevant bits: 11: attitude stabilization, 12: yaw position, 13: z/altitude control, 14: x/y position control
            emit attitudeControlEnabled(state.onboard_control_sensors_enabled & (1 << 11));
            emit positionYawControlEnabled(state.onboard_control_sensors_enabled & (1 << 12));
            emit positionZControlEnabled(state.onboard_control_sensors_enabled & (1 << 13));
            emit positionXYControlEnabled(state.onboard_control_sensors_enabled & (1 << 14));

            // Trigger drop rate updates as needed. Here we convert the incoming
            // drop_rate_comm value from 1/100 of a percent in a uint16 to a true
            // percentage as a float. We also cap the incoming value at 100% as defined
            // by the MAVLink specifications.
            if (state.drop_rate_comm > 10000)
            {
                state.drop_rate_comm = 10000;
            }
            emit dropRateChanged(this->getUASID(), state.drop_rate_comm/100.0f);
            emit valueChanged(uasId, name.arg("drop_rate_comm"), "%", state.drop_rate_comm/100.0f, time);
        }
            break;
        case MAVLINK_MSG_ID_ATTITUDE:
        {
            mavlink_attitude_t attitude;
            mavlink_msg_attitude_decode(&message, &attitude);
            quint64 time = getUnixReferenceTime(attitude.time_boot_ms);

            emit attitudeChanged(this, message.compid, QGC::limitAngleToPMPIf(attitude.roll), QGC::limitAngleToPMPIf(attitude.pitch), QGC::limitAngleToPMPIf(attitude.yaw), time);

            if (!wrongComponent)
            {
                lastAttitude = time;
                setRoll(QGC::limitAngleToPMPIf(attitude.roll));
                setPitch(QGC::limitAngleToPMPIf(attitude.pitch));
                setYaw(QGC::limitAngleToPMPIf(attitude.yaw));

                attitudeKnown = true;
                emit attitudeChanged(this, getRoll(), getPitch(), getYaw(), time);
                emit attitudeRotationRatesChanged(uasId, attitude.rollspeed, attitude.pitchspeed, attitude.yawspeed, time);
            }
        }
            break;
        case MAVLINK_MSG_ID_ATTITUDE_QUATERNION:
        {
            mavlink_attitude_quaternion_t attitude;
            mavlink_msg_attitude_quaternion_decode(&message, &attitude);
            quint64 time = getUnixReferenceTime(attitude.time_boot_ms);

            double a = attitude.q1;
            double b = attitude.q2;
            double c = attitude.q3;
            double d = attitude.q4;

            double aSq = a * a;
            double bSq = b * b;
            double cSq = c * c;
            double dSq = d * d;
            float dcm[3][3];
            dcm[0][0] = aSq + bSq - cSq - dSq;
            dcm[0][1] = 2.0 * (b * c - a * d);
            dcm[0][2] = 2.0 * (a * c + b * d);
            dcm[1][0] = 2.0 * (b * c + a * d);
            dcm[1][1] = aSq - bSq + cSq - dSq;
            dcm[1][2] = 2.0 * (c * d - a * b);
            dcm[2][0] = 2.0 * (b * d - a * c);
            dcm[2][1] = 2.0 * (a * b + c * d);
            dcm[2][2] = aSq - bSq - cSq + dSq;

            float phi, theta, psi;
            theta = asin(-dcm[2][0]);

            if (fabs(theta - M_PI_2) < 1.0e-3f) {
                phi = 0.0f;
                psi = (atan2(dcm[1][2] - dcm[0][1],
                        dcm[0][2] + dcm[1][1]) + phi);

            } else if (fabs(theta + M_PI_2) < 1.0e-3f) {
                phi = 0.0f;
                psi = atan2f(dcm[1][2] - dcm[0][1],
                          dcm[0][2] + dcm[1][1] - phi);

            } else {
                phi = atan2f(dcm[2][1], dcm[2][2]);
                psi = atan2f(dcm[1][0], dcm[0][0]);
            }

            emit attitudeChanged(this, message.compid, QGC::limitAngleToPMPIf(phi),
                                 QGC::limitAngleToPMPIf(theta),
                                 QGC::limitAngleToPMPIf(psi), time);

            if (!wrongComponent)
            {
                lastAttitude = time;
                setRoll(QGC::limitAngleToPMPIf(phi));
                setPitch(QGC::limitAngleToPMPIf(theta));
                setYaw(QGC::limitAngleToPMPIf(psi));

                attitudeKnown = true;
                emit attitudeChanged(this, getRoll(), getPitch(), getYaw(), time);
                emit attitudeRotationRatesChanged(uasId, attitude.rollspeed, attitude.pitchspeed, attitude.yawspeed, time);
            }
        }
            break;
        case MAVLINK_MSG_ID_HIL_CONTROLS:
        {
            mavlink_hil_controls_t hil;
            mavlink_msg_hil_controls_decode(&message, &hil);
            emit hilControlsChanged(hil.time_usec, hil.roll_ailerons, hil.pitch_elevator, hil.yaw_rudder, hil.throttle, hil.mode, hil.nav_mode);
        }
            break;
        case MAVLINK_MSG_ID_VFR_HUD:
        {
            mavlink_vfr_hud_t hud;
            mavlink_msg_vfr_hud_decode(&message, &hud);
            quint64 time = getUnixTime();
            // Display updated values
            emit thrustChanged(this, hud.throttle/100.0);

            if (!attitudeKnown)
            {
                setYaw(QGC::limitAngleToPMPId((((double)hud.heading)/180.0)*M_PI));
                emit attitudeChanged(this, getRoll(), getPitch(), getYaw(), time);
            }

            setAltitudeAMSL(hud.alt);
            setGroundSpeed(hud.groundspeed);
            if (!isnan(hud.airspeed))
                setAirSpeed(hud.airspeed);
            speedZ = -hud.climb;
            emit altitudeChanged(this, altitudeAMSL, altitudeRelative, -speedZ, time);
            emit speedChanged(this, groundSpeed, airSpeed, time);
        }
            break;
        case MAVLINK_MSG_ID_LOCAL_POSITION_NED:
            //std::cerr << std::endl;
            //std::cerr << "Decoded attitude message:" << " roll: " << std::dec << mavlink_msg_attitude_get_roll(message.payload) << " pitch: " << mavlink_msg_attitude_get_pitch(message.payload) << " yaw: " << mavlink_msg_attitude_get_yaw(message.payload) << std::endl;
        {
            mavlink_local_position_ned_t pos;
            mavlink_msg_local_position_ned_decode(&message, &pos);
            quint64 time = getUnixTime(pos.time_boot_ms);

            if (!wrongComponent)
            {
                speedX = pos.vx;
                speedY = pos.vy;
                speedZ = pos.vz;

                // Emit
                emit velocityChanged_NED(this, speedX, speedY, speedZ, time);
            }
        }
            break;
        case MAVLINK_MSG_ID_GLOBAL_VISION_POSITION_ESTIMATE:
        {
            mavlink_global_vision_position_estimate_t pos;
            mavlink_msg_global_vision_position_estimate_decode(&message, &pos);
            quint64 time = getUnixTime(pos.usec);
            emit attitudeChanged(this, message.compid, pos.roll, pos.pitch, pos.yaw, time);
        }
            break;
        case MAVLINK_MSG_ID_GLOBAL_POSITION_INT:
            //std::cerr << std::endl;
            //std::cerr << "Decoded attitude message:" << " roll: " << std::dec << mavlink_msg_attitude_get_roll(message.payload) << " pitch: " << mavlink_msg_attitude_get_pitch(message.payload) << " yaw: " << mavlink_msg_attitude_get_yaw(message.payload) << std::endl;
        {
            mavlink_global_position_int_t pos;
            mavlink_msg_global_position_int_decode(&message, &pos);

            quint64 time = getUnixTime();

            setLatitude(pos.lat/(double)1E7);
            setLongitude(pos.lon/(double)1E7);
            setAltitudeRelative(pos.relative_alt/1000.0);

            globalEstimatorActive = true;

            speedX = pos.vx/100.0;
            speedY = pos.vy/100.0;
            speedZ = pos.vz/100.0;

            emit globalPositionChanged(this, getLatitude(), getLongitude(), getAltitudeAMSL(), time);
            emit altitudeChanged(this, altitudeAMSL, altitudeRelative, -speedZ, time);
            // We had some frame mess here, global and local axes were mixed.
            emit velocityChanged_NED(this, speedX, speedY, speedZ, time);

            setGroundSpeed(qSqrt(speedX*speedX+speedY*speedY));
            emit speedChanged(this, groundSpeed, airSpeed, time);

            isGlobalPositionKnown = true;
        }
            break;
        case MAVLINK_MSG_ID_GPS_RAW_INT:
        {
            mavlink_gps_raw_int_t pos;
            mavlink_msg_gps_raw_int_decode(&message, &pos);

            quint64 time = getUnixTime(pos.time_usec);

            // TODO: track localization state not only for gps but also for other loc. sources
            int loc_type = pos.fix_type;
            if (loc_type == 1)
            {
                loc_type = 0;
            }
            setSatelliteCount(pos.satellites_visible);

            if (pos.fix_type > 2)
            {
                isGlobalPositionKnown = true;

                latitude_gps  = pos.lat/(double)1E7;
                longitude_gps = pos.lon/(double)1E7;
                altitude_gps  = pos.alt/1000.0;

                // If no GLOBAL_POSITION_INT messages ever received, use these raw GPS values instead.
                if (!globalEstimatorActive) {
                    setLatitude(latitude_gps);
                    setLongitude(longitude_gps);
                    emit globalPositionChanged(this, getLatitude(), getLongitude(), getAltitudeAMSL(), time);
                    emit altitudeChanged(this, altitudeAMSL, altitudeRelative, -speedZ, time);

                    float vel = pos.vel/100.0f;
                    // Smaller than threshold and not NaN
                    if ((vel < 1000000) && !isnan(vel) && !isinf(vel)) {
                        setGroundSpeed(vel);
                        emit speedChanged(this, groundSpeed, airSpeed, time);
                    } else {
                        emit textMessageReceived(uasId, message.compid, MAV_SEVERITY_NOTICE, QString("GCS ERROR: RECEIVED INVALID SPEED OF %1 m/s").arg(vel));
                    }
                }
            }

            double dtmp;
            //-- Raw GPS data
            dtmp = pos.eph == 0xFFFF ? 1e10f : pos.eph / 100.0;
            if(dtmp != satRawHDOP)
            {
                satRawHDOP = dtmp;
                emit satRawHDOPChanged(satRawHDOP);
            }
            dtmp = pos.epv == 0xFFFF ? 1e10f : pos.epv / 100.0;
            if(dtmp != satRawVDOP)
            {
                satRawVDOP = dtmp;
                emit satRawVDOPChanged(satRawVDOP);
            }
            dtmp = pos.cog == 0xFFFF ? 0.0 : pos.cog / 100.0;
            if(dtmp != satRawCOG)
            {
                satRawCOG = dtmp;
                emit satRawCOGChanged(satRawCOG);
            }

            // Emit this signal after the above signals. This way a trigger on gps lock signal which then asks for vehicle position
            // gets a good position.
            emit localizationChanged(this, loc_type);
        }
            break;
        case MAVLINK_MSG_ID_GPS_STATUS:
        {
            mavlink_gps_status_t pos;
            mavlink_msg_gps_status_decode(&message, &pos);
            for(int i = 0; i < (int)pos.satellites_visible; i++)
            {
                emit gpsSatelliteStatusChanged(uasId, (unsigned char)pos.satellite_prn[i], (unsigned char)pos.satellite_elevation[i], (unsigned char)pos.satellite_azimuth[i], (unsigned char)pos.satellite_snr[i], static_cast<bool>(pos.satellite_used[i]));
            }
            setSatelliteCount(pos.satellites_visible);
        }
            break;
        case MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN:
        {
            mavlink_gps_global_origin_t pos;
            mavlink_msg_gps_global_origin_decode(&message, &pos);
            emit homePositionChanged(uasId, pos.latitude / 10000000.0, pos.longitude / 10000000.0, pos.altitude / 1000.0);
        }
            break;

        case MAVLINK_MSG_ID_PARAM_VALUE:
        {
            mavlink_param_value_t rawValue;
            mavlink_msg_param_value_decode(&message, &rawValue);
            QByteArray bytes(rawValue.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
            // Construct a string stopping at the first NUL (0) character, else copy the whole
            // byte array (max MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN, so safe)
            QString parameterName(bytes);
            mavlink_param_union_t paramVal;
            paramVal.param_float = rawValue.param_value;
            paramVal.type = rawValue.param_type;

            processParamValueMsg(message, parameterName,rawValue,paramVal);
         }
            break;
        case MAVLINK_MSG_ID_COMMAND_ACK:
        {
            mavlink_command_ack_t ack;
            mavlink_msg_command_ack_decode(&message, &ack);
            emit commandAck(this, message.compid, ack.command, ack.result);
            switch (ack.result)
            {
            case MAV_RESULT_ACCEPTED:
            {
                // Do not confirm each command positively, as it spams the console.
                // emit textMessageReceived(uasId, message.compid, MAV_SEVERITY_INFO, tr("SUCCESS: Executed CMD: %1").arg(ack.command));
            }
                break;
            case MAV_RESULT_TEMPORARILY_REJECTED:
            {
                emit textMessageReceived(uasId, message.compid, MAV_SEVERITY_WARNING, tr("FAILURE: Temporarily rejected CMD: %1").arg(ack.command));
            }
                break;
            case MAV_RESULT_DENIED:
            {
                emit textMessageReceived(uasId, message.compid, MAV_SEVERITY_ERROR, tr("FAILURE: Denied CMD: %1").arg(ack.command));
            }
                break;
            case MAV_RESULT_UNSUPPORTED:
            {
                emit textMessageReceived(uasId, message.compid, MAV_SEVERITY_WARNING, tr("FAILURE: Unsupported CMD: %1").arg(ack.command));
            }
                break;
            case MAV_RESULT_FAILED:
            {
                emit textMessageReceived(uasId, message.compid, MAV_SEVERITY_ERROR, tr("FAILURE: Failed CMD: %1").arg(ack.command));
            }
                break;
            }
        }
        case MAVLINK_MSG_ID_ATTITUDE_TARGET:
        {
            mavlink_attitude_target_t out;
            mavlink_msg_attitude_target_decode(&message, &out);
            float roll, pitch, yaw;
            mavlink_quaternion_to_euler(out.q, &roll, &pitch, &yaw);
            quint64 time = getUnixTimeFromMs(out.time_boot_ms);
            emit attitudeThrustSetPointChanged(this, roll, pitch, yaw, out.thrust, time);

            // For plotting emit roll sp, pitch sp and yaw sp values
            emit valueChanged(uasId, "roll sp", "rad", roll, time);
            emit valueChanged(uasId, "pitch sp", "rad", pitch, time);
            emit valueChanged(uasId, "yaw sp", "rad", yaw, time);
        }
            break;

        case MAVLINK_MSG_ID_POSITION_TARGET_LOCAL_NED:
        {
            if (multiComponentSourceDetected && wrongComponent)
            {
                break;
            }
            mavlink_position_target_local_ned_t p;
            mavlink_msg_position_target_local_ned_decode(&message, &p);
            quint64 time = getUnixTimeFromMs(p.time_boot_ms);
            emit positionSetPointsChanged(uasId, p.x, p.y, p.z, 0/* XXX remove yaw and move it to attitude */, time);
        }
            break;
        case MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED:
        {
            mavlink_set_position_target_local_ned_t p;
            mavlink_msg_set_position_target_local_ned_decode(&message, &p);
            emit userPositionSetPointsChanged(uasId, p.x, p.y, p.z, 0/* XXX remove yaw and move it to attitude */);
        }
            break;
        case MAVLINK_MSG_ID_STATUSTEXT:
        {
            QByteArray b;
            b.resize(MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1);
            mavlink_msg_statustext_get_text(&message, b.data());

            // Ensure NUL-termination
            b[b.length()-1] = '\0';
            QString text = QString(b);
            int severity = mavlink_msg_statustext_get_severity(&message);

        // If the message is NOTIFY or higher severity, or starts with a '#',
        // then read it aloud.
            if (text.startsWith("#") || severity <= MAV_SEVERITY_NOTICE)
            {
                text.remove("#");
                emit textMessageReceived(uasId, message.compid, severity, text);
                _say(text.toLower(), severity);
            }
            else
            {
                emit textMessageReceived(uasId, message.compid, severity, text);
            }
        }
            break;

        case MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE:
        {
            mavlink_data_transmission_handshake_t p;
            mavlink_msg_data_transmission_handshake_decode(&message, &p);
            imageSize = p.size;
            imagePackets = p.packets;
            imagePayload = p.payload;
            imageQuality = p.jpg_quality;
            imageType = p.type;
            imageWidth = p.width;
            imageHeight = p.height;
            imageStart = QGC::groundTimeMilliseconds();
            imagePacketsArrived = 0;

        }
            break;

        case MAVLINK_MSG_ID_ENCAPSULATED_DATA:
        {
            mavlink_encapsulated_data_t img;
            mavlink_msg_encapsulated_data_decode(&message, &img);
            int seq = img.seqnr;
            int pos = seq * imagePayload;

            // Check if we have a valid transaction
            if (imagePackets == 0)
            {
                // NO VALID TRANSACTION - ABORT
                // Restart statemachine
                imagePacketsArrived = 0;
                break;
            }

            for (int i = 0; i < imagePayload; ++i)
            {
                if (pos <= imageSize) {
                    imageRecBuffer[pos] = img.data[i];
                }
                ++pos;
            }

            ++imagePacketsArrived;

            // emit signal if all packets arrived
            if (imagePacketsArrived >= imagePackets)
            {
                // Restart statemachine
                imagePackets = 0;
                imagePacketsArrived = 0;
                emit imageReady(this);
            }
        }
            break;

        case MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT:
        {
            mavlink_nav_controller_output_t p;
            mavlink_msg_nav_controller_output_decode(&message,&p);
            setDistToWaypoint(p.wp_dist);
            setBearingToWaypoint(p.nav_bearing);
            emit navigationControllerErrorsChanged(this, p.alt_error, p.aspd_error, p.xtrack_error);
            emit NavigationControllerDataChanged(this, p.nav_roll, p.nav_pitch, p.nav_bearing, p.target_bearing, p.wp_dist);
        }
            break;

        case MAVLINK_MSG_ID_LOG_ENTRY:
        {
            mavlink_log_entry_t log;
            mavlink_msg_log_entry_decode(&message, &log);
            emit logEntry(this, log.time_utc, log.size, log.id, log.num_logs, log.last_log_num);
        }
            break;

        case MAVLINK_MSG_ID_LOG_DATA:
        {
            mavlink_log_data_t log;
            mavlink_msg_log_data_decode(&message, &log);
            emit logData(this, log.ofs, log.id, log.count, log.data);
        }
            break;

        default:
            break;
        }
    }
}

void UAS::startCalibration(UASInterface::StartCalibrationType calType)
{
    if (!_vehicle) {
        return;
    }

    int gyroCal = 0;
    int magCal = 0;
    int airspeedCal = 0;
    int radioCal = 0;
    int accelCal = 0;
    int escCal = 0;

    switch (calType) {
        case StartCalibrationGyro:
            gyroCal = 1;
            break;
        case StartCalibrationMag:
            magCal = 1;
            break;
        case StartCalibrationAirspeed:
            airspeedCal = 1;
            break;
        case StartCalibrationRadio:
            radioCal = 1;
            break;
        case StartCalibrationCopyTrims:
            radioCal = 2;
            break;
        case StartCalibrationAccel:
            accelCal = 1;
            break;
        case StartCalibrationLevel:
            accelCal = 2;
            break;
        case StartCalibrationEsc:
            escCal = 1;
            break;
        case StartCalibrationUavcanEsc:
            escCal = 2;
            break;
    }

    mavlink_message_t msg;
    mavlink_msg_command_long_pack(mavlink->getSystemId(),
                                  mavlink->getComponentId(),
                                  &msg,
                                  uasId,
                                  0,                                // target component
                                  MAV_CMD_PREFLIGHT_CALIBRATION,    // command id
                                  0,                                // 0=first transmission of command
                                  gyroCal,                          // gyro cal
                                  magCal,                           // mag cal
                                  0,                                // ground pressure
                                  radioCal,                         // radio cal
                                  accelCal,                         // accel cal
                                  airspeedCal,                      // airspeed cal
                                  escCal);                          // esc cal
    _vehicle->sendMessage(msg);
}

void UAS::stopCalibration(void)
{
    if (!_vehicle) {
        return;
    }

    mavlink_message_t msg;
    mavlink_msg_command_long_pack(mavlink->getSystemId(),
                                  mavlink->getComponentId(),
                                  &msg,
                                  uasId,
                                  0,                                // target component
                                  MAV_CMD_PREFLIGHT_CALIBRATION,    // command id
                                  0,                                // 0=first transmission of command
                                  0,                                // gyro cal
                                  0,                                // mag cal
                                  0,                                // ground pressure
                                  0,                                // radio cal
                                  0,                                // accel cal
                                  0,                                // airspeed cal
                                  0);                               // unused
    _vehicle->sendMessage(msg);
}

void UAS::startBusConfig(UASInterface::StartBusConfigType calType)
{
    if (!_vehicle) {
        return;
    }

   int actuatorCal = 0;