UAS.cc

* @warning If attitudeStamped is enabled, this function will not actually return
* the precise time stam of this measurement augmented to UNIX time, but will
* MOVE the timestamp IN TIME to match the last measured attitude. There is no
* reason why one would want this, except for system setups where the onboard
* clock is not present or broken and datasets should be collected that are
* still roughly synchronized. PLEASE NOTE THAT ENABLING ATTITUDE STAMPED
* RUINS THE SCIENTIFIC NATURE OF THE CORRECT LOGGING FUNCTIONS OF QGROUNDCONTROL!
*/
quint64 UAS::getUnixTime(quint64 time)
{
    quint64 ret = 0;
    if (attitudeStamped)
    {
        ret = lastAttitude;
    }

    if (time == 0)
    {
        ret = QGC::groundTimeMilliseconds();
    }
    // Check if time is smaller than 40 years,
    // assuming no system without Unix timestamp
    // runs longer than 40 years continuously without
    // reboot. In worst case this will add/subtract the
    // communication delay between GCS and MAV,
    // it will never alter the timestamp in a safety
    // critical way.
    //
    // Calculation:
    // 40 years
    // 365 days
    // 24 hours
    // 60 minutes
    // 60 seconds
    // 1000 milliseconds
    // 1000 microseconds
#ifndef _MSC_VER
    else if (time < 1261440000000000LLU)
#else
    else if (time < 1261440000000000)
#endif
    {
        //        qDebug() << "GEN time:" << time/1000 + onboardTimeOffset;
        if (onboardTimeOffset == 0 || time < (lastNonNullTime - 100))
        {
            lastNonNullTime = time;
            onboardTimeOffset = QGC::groundTimeMilliseconds() - time/1000;
        }
        if (time > lastNonNullTime) lastNonNullTime = time;

        ret = time/1000 + onboardTimeOffset;
    }
    else
    {
        // Time is not zero and larger than 40 years -> has to be
        // a Unix epoch timestamp. Do nothing.
        ret = time/1000;
    }

    return ret;
}

/**
* Get the status of the code and a description of the status.
* Status can be unitialized, booting up, calibrating sensors, active
* standby, cirtical, emergency, shutdown or unknown.
*/
void UAS::getStatusForCode(int statusCode, QString& uasState, QString& stateDescription)
{
    switch (statusCode)
    {
    case MAV_STATE_UNINIT:
        uasState = tr("UNINIT");
        stateDescription = tr("Unitialized, booting up.");
        break;
    case MAV_STATE_BOOT:
        uasState = tr("BOOT");
        stateDescription = tr("Booting system, please wait.");
        break;
    case MAV_STATE_CALIBRATING:
        uasState = tr("CALIBRATING");
        stateDescription = tr("Calibrating sensors, please wait.");
        break;
    case MAV_STATE_ACTIVE:
        uasState = tr("ACTIVE");
        stateDescription = tr("Active, normal operation.");
        break;
    case MAV_STATE_STANDBY:
        uasState = tr("STANDBY");
        stateDescription = tr("Standby mode, ready for launch.");
        break;
    case MAV_STATE_CRITICAL:
        uasState = tr("CRITICAL");
        stateDescription = tr("FAILURE: Continuing operation.");
        break;
    case MAV_STATE_EMERGENCY:
        uasState = tr("EMERGENCY");
        stateDescription = tr("EMERGENCY: Land Immediately!");
        break;
        //case MAV_STATE_HILSIM:
        //uasState = tr("HIL SIM");
        //stateDescription = tr("HIL Simulation, Sensors read from SIM");
        //break;

    case MAV_STATE_POWEROFF:
        uasState = tr("SHUTDOWN");
        stateDescription = tr("Powering off system.");
        break;

    default:
        uasState = tr("UNKNOWN");
        stateDescription = tr("Unknown system state");
        break;
    }
}

QImage UAS::getImage()
{

//    qDebug() << "IMAGE TYPE:" << imageType;

    // RAW greyscale
    if (imageType == MAVLINK_DATA_STREAM_IMG_RAW8U)
    {
        int imgColors = 255;

        // Construct PGM header
        QString header("P5\n%1 %2\n%3\n");
        header = header.arg(imageWidth).arg(imageHeight).arg(imgColors);

        QByteArray tmpImage(header.toStdString().c_str(), header.length());
        tmpImage.append(imageRecBuffer);

        //qDebug() << "IMAGE SIZE:" << tmpImage.size() << "HEADER SIZE: (15):" << header.size() << "HEADER: " << header;

        if (imageRecBuffer.isNull())
        {
            qDebug()<< "could not convertToPGM()";
            return QImage();
        }

        if (!image.loadFromData(tmpImage, "PGM"))
        {
            qDebug()<< __FILE__ << __LINE__ << "could not create extracted image";
            return QImage();
        }

    }
    // BMP with header
    else if (imageType == MAVLINK_DATA_STREAM_IMG_BMP ||
             imageType == MAVLINK_DATA_STREAM_IMG_JPEG ||
             imageType == MAVLINK_DATA_STREAM_IMG_PGM ||
             imageType == MAVLINK_DATA_STREAM_IMG_PNG)
    {
        if (!image.loadFromData(imageRecBuffer))
        {
            qDebug() << __FILE__ << __LINE__ << "Loading data from image buffer failed!";
            return QImage();
        }
    }

    // Restart statemachine
    imagePacketsArrived = 0;
    imagePackets = 0;
    imageRecBuffer.clear();
    return image;
}

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

   qDebug() << "trying to get an image from the uas...";

    // check if there is already an image transmission going on
    if (imagePacketsArrived == 0)
    {
        mavlink_message_t msg;
        mavlink_msg_data_transmission_handshake_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, MAVLINK_DATA_STREAM_IMG_JPEG, 0, 0, 0, 0, 0, 50);
        _vehicle->sendMessage(msg);
    }
}


/* MANAGEMENT */

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

//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

    switch (rawValue.param_type) {
        case MAV_PARAM_TYPE_REAL32:
            paramValue = QVariant(paramUnion.param_float);
            break;

        case MAV_PARAM_TYPE_UINT8:
            paramValue = QVariant(paramUnion.param_uint8);
            break;

        case MAV_PARAM_TYPE_INT8:
            paramValue = QVariant(paramUnion.param_int8);
            break;

        case MAV_PARAM_TYPE_UINT16:
            paramValue = QVariant(paramUnion.param_uint16);
            break;

        case MAV_PARAM_TYPE_INT16:
            paramValue = QVariant(paramUnion.param_int16);
            break;

        case MAV_PARAM_TYPE_UINT32:
            paramValue = QVariant(paramUnion.param_uint32);
            break;

        case MAV_PARAM_TYPE_INT32:
            paramValue = QVariant(paramUnion.param_int32);
            break;

        //-- Note: These are not handled above:
        //
        //   MAV_PARAM_TYPE_UINT64
        //   MAV_PARAM_TYPE_INT64
        //   MAV_PARAM_TYPE_REAL64
        //
        //   No space in message (the only storage allocation is a "float") and not present in mavlink_param_union_t

        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);
}

void UAS::executeCommand(MAV_CMD command, int confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7, int component)
{
    if (!_vehicle) {
        return;
    }

    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);
    _vehicle->sendMessage(msg);
}

/**
* Set the manual control commands.
* This can only be done if the system has manual inputs enabled and is armed.
*/
void UAS::setExternalControlSetpoint(float roll, float pitch, float yaw, float thrust, quint16 buttons, int joystickMode)
{
    if (!_vehicle) {
        return;
    }

    // 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 ((!qIsNaN(roll) && roll != manualRollAngle) || (!qIsNaN(pitch) && pitch != manualPitchAngle) ||
             (!qIsNaN(yaw) && yaw != manualYawAngle) || (!qIsNaN(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 == Vehicle::JoystickModeAttitude) {
            // 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 == Vehicle::JoystickModePosition) {
            // 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 == Vehicle::JoystickModeForce) {
            // 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 == Vehicle::JoystickModeVelocity) {
            // 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 == Vehicle::JoystickModeRC) {

            // 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;

            //qDebug() << newRollCommand << newPitchCommand << newYawCommand << newThrustCommand;

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

        _vehicle->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());
    }
}

#ifndef __mobile__
void UAS::setManual6DOFControlCommands(double x, double y, double z, double roll, double pitch, double yaw)
{
    if (!_vehicle) {
        return;
    }

   // 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);
        _vehicle->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);
        _vehicle->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

/**
* Order the robot to start receiver pairing
*/
void UAS::pairRX(int rxType, int rxSubType)
{
    if (!_vehicle) {
        return;
    }

    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);
    _vehicle->sendMessage(msg);
}

/**
* 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) {
        // Delete wrong sim
        if (simulation) {
            stopHil();
            delete simulation;
        }
        simulation = new QGCFlightGearLink(_vehicle, options);
    }

    float noise_scaler = 0.0001f;
    xacc_var = noise_scaler * 0.2914f;
    yacc_var = noise_scaler * 0.2914f;
    zacc_var = noise_scaler * 0.9577f;
    rollspeed_var = noise_scaler * 0.8126f;
    pitchspeed_var = noise_scaler * 0.6145f;
    yawspeed_var = noise_scaler * 0.5852f;
    xmag_var = noise_scaler * 0.0786f;
    ymag_var = noise_scaler * 0.0566f;
    zmag_var = noise_scaler * 0.0333f;
    abs_pressure_var = noise_scaler * 0.5604f;
    diff_pressure_var = noise_scaler * 0.2604f;
    pressure_alt_var = noise_scaler * 0.5604f;
    temperature_var = noise_scaler * 0.7290f;

    // 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) {
        // Delete wrong sim
        if (simulation) {
            stopHil();
            delete simulation;
        }
        simulation = new QGCJSBSimLink(_vehicle, 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) {
        if (simulation) {
            stopHil();
            delete simulation;
        }
        simulation = new QGCXPlaneLink(_vehicle);

        float noise_scaler = 0.0001f;
        xacc_var = noise_scaler * 0.2914f;
        yacc_var = noise_scaler * 0.2914f;
        zacc_var = noise_scaler * 0.9577f;
        rollspeed_var = noise_scaler * 0.8126f;
        pitchspeed_var = noise_scaler * 0.6145f;
        yawspeed_var = noise_scaler * 0.5852f;
        xmag_var = noise_scaler * 0.0786f;
        ymag_var = noise_scaler * 0.0566f;
        zmag_var = noise_scaler * 0.0333f;
        abs_pressure_var = noise_scaler * 0.5604f;
        diff_pressure_var = noise_scaler * 0.2604f;
        pressure_alt_var = noise_scaler * 0.5604f;
        temperature_var = noise_scaler * 0.7290f;
    }
    // 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)
* @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::sendHilState(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)
{
    if (!_vehicle) {
        return;
    }

    if (this->base_mode & MAV_MODE_FLAG_HIL_ENABLED)
    {
        float q[4];

        double cosPhi_2 = cos(double(roll) / 2.0);
        double sinPhi_2 = sin(double(roll) / 2.0);
        double cosTheta_2 = cos(double(pitch) / 2.0);
        double sinTheta_2 = sin(double(pitch) / 2.0);
        double cosPsi_2 = cos(double(yaw) / 2.0);
        double sinPsi_2 = sin(double(yaw) / 2.0);
        q[0] = (cosPhi_2 * cosTheta_2 * cosPsi_2 +
                sinPhi_2 * sinTheta_2 * sinPsi_2);
        q[1] = (sinPhi_2 * cosTheta_2 * cosPsi_2 -
                cosPhi_2 * sinTheta_2 * sinPsi_2);
        q[2] = (cosPhi_2 * sinTheta_2 * cosPsi_2 +
                sinPhi_2 * cosTheta_2 * sinPsi_2);
        q[3] = (cosPhi_2 * cosTheta_2 * sinPsi_2 -
                sinPhi_2 * sinTheta_2 * cosPsi_2);

        mavlink_message_t msg;
        mavlink_msg_hil_state_quaternion_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg,
                                   time_us, q, rollspeed, pitchspeed, yawspeed,
                                   lat*1e7f, lon*1e7f, alt*1000, vx*100, vy*100, vz*100, ind_airspeed*100, true_airspeed*100, xacc*1000/9.81, yacc*1000/9.81, zacc*1000/9.81);
        _vehicle->sendMessage(msg);
    }
    else
    {
        // Attempt to set HIL mode
        _vehicle->setHilMode(true);
        qDebug() << __FILE__ << __LINE__ << "HIL is onboard not enabled, trying to enable.";
    }
}
#endif

#ifndef __mobile__
float UAS::addZeroMeanNoise(float truth_meas, float noise_var)
{
    /* Calculate normally distributed variable noise with mean = 0 and variance = noise_var.  Calculated according to
    Box-Muller transform */
    static const float epsilon = std::numeric_limits<float>::min(); //used to ensure non-zero uniform numbers
    static float z0; //calculated normal distribution random variables with mu = 0, var = 1;
    float u1, u2;        //random variables generated from c++ rand();

    /*Generate random variables in range (0 1] */
    do
    {
        //TODO seed rand() with srand(time) but srand(time should be called once on startup)
        //currently this will generate repeatable random noise
        u1 = rand() * (1.0 / RAND_MAX);
        u2 = rand() * (1.0 / RAND_MAX);
    }
    while ( u1 <= epsilon );  //Have a catch to ensure non-zero for log()

    z0 = sqrt(-2.0 * log(u1)) * cos(2.0f * M_PI * u2); //calculate normally distributed variable with mu = 0, var = 1

    //TODO add bias term that changes randomly to simulate accelerometer and gyro bias the exf should handle these
    //as well
    float noise = z0 * sqrt(noise_var); //calculate normally distributed variable with mu = 0, std = var^2

    //Finally gaurd against any case where the noise is not real
    if(std::isfinite(noise)) {
            return truth_meas + noise;
    } else {
        return truth_meas;
    }
}
#endif

/*
* @param abs_pressure Absolute Pressure (hPa)
* @param diff_pressure Differential Pressure  (hPa)
*/
#ifndef __mobile__
void UAS::sendHilSensors(quint64 time_us, float xacc, float yacc, float zacc, float rollspeed, float pitchspeed, float yawspeed,
                                    float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float temperature, quint32 fields_changed)
{
    if (!_vehicle) {
        return;
    }

    if (this->base_mode & MAV_MODE_FLAG_HIL_ENABLED)
    {
        float xacc_corrupt = addZeroMeanNoise(xacc, xacc_var);
        float yacc_corrupt = addZeroMeanNoise(yacc, yacc_var);
        float zacc_corrupt = addZeroMeanNoise(zacc, zacc_var);
        float rollspeed_corrupt = addZeroMeanNoise(rollspeed,rollspeed_var);
        float pitchspeed_corrupt = addZeroMeanNoise(pitchspeed,pitchspeed_var);
        float yawspeed_corrupt = addZeroMeanNoise(yawspeed,yawspeed_var);
        float xmag_corrupt = addZeroMeanNoise(xmag, xmag_var);
        float ymag_corrupt = addZeroMeanNoise(ymag, ymag_var);
        float zmag_corrupt = addZeroMeanNoise(zmag, zmag_var);
        float abs_pressure_corrupt = addZeroMeanNoise(abs_pressure,abs_pressure_var);
        float diff_pressure_corrupt = addZeroMeanNoise(diff_pressure, diff_pressure_var);
        float pressure_alt_corrupt = addZeroMeanNoise(pressure_alt, pressure_alt_var);
        float temperature_corrupt = addZeroMeanNoise(temperature,temperature_var);

        mavlink_message_t msg;
        mavlink_msg_hil_sensor_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg,
                                   time_us, xacc_corrupt, yacc_corrupt, zacc_corrupt, rollspeed_corrupt, pitchspeed_corrupt,
                                    yawspeed_corrupt, xmag_corrupt, ymag_corrupt, zmag_corrupt, abs_pressure_corrupt,
                                    diff_pressure_corrupt, pressure_alt_corrupt, temperature_corrupt, fields_changed);
        _vehicle->sendMessage(msg);
        lastSendTimeSensors = QGC::groundTimeMilliseconds();
    }
    else
    {
        // Attempt to set HIL mode
        _vehicle->setHilMode(true);
        qDebug() << __FILE__ << __LINE__ << "HIL is onboard not enabled, trying to enable.";
    }
}
#endif

#ifndef __mobile__
void UAS::sendHilOpticalFlow(quint64 time_us, qint16 flow_x, qint16 flow_y, float flow_comp_m_x,
                    float flow_comp_m_y, quint8 quality, float ground_distance)
{
    if (!_vehicle) {
        return;
    }

    // FIXME: This needs to be updated for new mavlink_msg_hil_optical_flow_pack api

    Q_UNUSED(time_us);
    Q_UNUSED(flow_x);
    Q_UNUSED(flow_y);
    Q_UNUSED(flow_comp_m_x);
    Q_UNUSED(flow_comp_m_y);
    Q_UNUSED(quality);
    Q_UNUSED(ground_distance);

    if (this->base_mode & MAV_MODE_FLAG_HIL_ENABLED)
    {
#if 0
        mavlink_message_t msg;
        mavlink_msg_hil_optical_flow_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg,
                                   time_us, 0, 0 /* hack */, flow_x, flow_y, 0.0f /* hack */, 0.0f /* hack */, 0.0f /* hack */, 0 /* hack */, quality, ground_distance);

        _vehicle->sendMessage(msg);
        lastSendTimeOpticalFlow = QGC::groundTimeMilliseconds();
#endif
    }
    else
    {
        // Attempt to set HIL mode
        _vehicle->setHilMode(true);
        qDebug() << __FILE__ << __LINE__ << "HIL is onboard not enabled, trying to enable.";
    }

}
#endif

#ifndef __mobile__
void UAS::sendHilGps(quint64 time_us, double lat, double lon, double alt, int fix_type, float eph, float epv, float vel, float vn, float ve, float vd, float cog, int satellites)
{
    if (!_vehicle) {
        return;
    }

    // Only send at 10 Hz max rate
    if (QGC::groundTimeMilliseconds() - lastSendTimeGPS < 100)
        return;

    if (this->base_mode & MAV_MODE_FLAG_HIL_ENABLED)
    {
        float course = cog;
        // map to 0..2pi
        if (course < 0)
            course += 2.0f * static_cast<float>(M_PI);
        // scale from radians to degrees
        course = (course / M_PI) * 180.0f;

        mavlink_message_t msg;
        mavlink_msg_hil_gps_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg,
                                   time_us, fix_type, lat*1e7, lon*1e7, alt*1e3, eph*1e2, epv*1e2, vel*1e2, vn*1e2, ve*1e2, vd*1e2, course*1e2, satellites);
        lastSendTimeGPS = QGC::groundTimeMilliseconds();
        _vehicle->sendMessage(msg);
    }
    else
    {
        // Attempt to set HIL mode
        _vehicle->setHilMode(true);
        qDebug() << __FILE__ << __LINE__ << "HIL is onboard not enabled, trying to enable.";
    }
}
#endif

/**
* Connect flight gear link.
**/
#ifndef __mobile__
void UAS::startHil()
{
    if (hilEnabled) return;
    hilEnabled = true;
    sensorHil = false;
    _vehicle->setHilMode(true);
    qDebug() << __FILE__ << __LINE__ << "HIL is onboard not enabled, trying to enable.";
    // Connect HIL simulation link
    simulation->connectSimulation();
}
#endif

/**
* disable flight gear link.
*/
#ifndef __mobile__
void UAS::stopHil()
{
   if (simulation && simulation->isConnected()) {
       simulation->disconnectSimulation();
       _vehicle->setHilMode(false);
       qDebug() << __FILE__ << __LINE__ << "HIL is onboard not enabled, trying to disable.";
   }
    hilEnabled = false;
    sensorHil = false;
}
#endif

/**
* @rerturn the map of the components
*/
QMap<int, QString> UAS::getComponents()
{
    return components;
}

void UAS::sendMapRCToParam(QString param_id, float scale, float value0, quint8 param_rc_channel_index, float valueMin, float valueMax)
{
    if (!_vehicle) {
        return;
    }

    mavlink_message_t message;

    char param_id_cstr[MAVLINK_MSG_PARAM_MAP_RC_FIELD_PARAM_ID_LEN] = {};
    // Copy string into buffer, ensuring not to exceed the buffer size
    for (unsigned int i = 0; i < sizeof(param_id_cstr); i++)
    {
        if ((int)i < param_id.length())
        {
            param_id_cstr[i] = param_id.toLatin1()[i];
        }
    }

    mavlink_msg_param_map_rc_pack(mavlink->getSystemId(),
                                  mavlink->getComponentId(),
                                  &message,
                                  this->uasId,
                                  0,
                                  param_id_cstr,
                                  -1,
                                  param_rc_channel_index,
                                  value0,
                                  scale,
                                  valueMin,
                                  valueMax);
    _vehicle->sendMessage(message);
    //qDebug() << "Mavlink message sent";
}

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

    char param_id_cstr[MAVLINK_MSG_PARAM_MAP_RC_FIELD_PARAM_ID_LEN] = {};

    for (int i = 0; i < 3; i++) {
        mavlink_message_t message;
        mavlink_msg_param_map_rc_pack(mavlink->getSystemId(),
                                      mavlink->getComponentId(),
                                      &message,
                                      this->uasId,
                                      0,
                                      param_id_cstr,
                                      -2,
                                      i,