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/****************************************************************************
*
* (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
*
* QGroundControl is licensed according to the terms in the file
* COPYING.md in the root of the source code directory.
*
****************************************************************************/
#include <QTime>
#include <QDateTime>
#include <QLocale>
#include "Vehicle.h"
#include "MAVLinkProtocol.h"
#include "FirmwarePluginManager.h"
#include "LinkManager.h"
#include "FirmwarePlugin.h"
#include "PlanMasterController.h"
#include "GeoFenceManager.h"
#include "RallyPointManager.h"
#include "MissionCommandTree.h"
#include "QGroundControlQmlGlobal.h"
#include "QGCQGeoCoordinate.h"
#include "QGCCorePlugin.h"
#include "VideoReceiver.h"
#include "VideoManager.h"
QGC_LOGGING_CATEGORY(VehicleLog, "VehicleLog")
#define UPDATE_TIMER 50
#define DEFAULT_LAT 38.965767f
#define DEFAULT_LON -120.083923f
const QString guided_mode_not_supported_by_vehicle = QObject::tr("Guided mode not supported by Vehicle.");
const char* Vehicle::_settingsGroup = "Vehicle%1"; // %1 replaced with mavlink system id
const char* Vehicle::_joystickModeSettingsKey = "JoystickMode";
const char* Vehicle::_joystickEnabledSettingsKey = "JoystickEnabled";
const char* Vehicle::_rollFactName = "roll";
const char* Vehicle::_pitchFactName = "pitch";
const char* Vehicle::_headingFactName = "heading";
const char* Vehicle::_rollRateFactName = "rollRate";
const char* Vehicle::_pitchRateFactName = "pitchRate";
const char* Vehicle::_yawRateFactName = "yawRate";
const char* Vehicle::_airSpeedFactName = "airSpeed";
const char* Vehicle::_groundSpeedFactName = "groundSpeed";
const char* Vehicle::_climbRateFactName = "climbRate";
const char* Vehicle::_altitudeRelativeFactName = "altitudeRelative";
const char* Vehicle::_altitudeAMSLFactName = "altitudeAMSL";
const char* Vehicle::_flightDistanceFactName = "flightDistance";
const char* Vehicle::_flightTimeFactName = "flightTime";
const char* Vehicle::_distanceToHomeFactName = "distanceToHome";
const char* Vehicle::_hobbsFactName = "hobbs";
const char* Vehicle::_gpsFactGroupName = "gps";
const char* Vehicle::_batteryFactGroupName = "battery";
const char* Vehicle::_windFactGroupName = "wind";
const char* Vehicle::_vibrationFactGroupName = "vibration";
const char* Vehicle::_temperatureFactGroupName = "temperature";
const char* Vehicle::_clockFactGroupName = "clock";
const char* Vehicle::_distanceSensorFactGroupName = "distanceSensor";
Vehicle::Vehicle(LinkInterface* link,
int vehicleId,
MAV_AUTOPILOT firmwareType,
MAV_TYPE vehicleType,
FirmwarePluginManager* firmwarePluginManager,
JoystickManager* joystickManager)
: FactGroup(_vehicleUIUpdateRateMSecs, ":/json/Vehicle/VehicleFact.json")
, _id(vehicleId)
, _defaultComponentId(defaultComponentId)
, _firmwarePluginInstanceData(NULL)
, _toolbox(qgcApp()->toolbox())
, _settingsManager(_toolbox->settingsManager())
, _joystickMode(JoystickModeRC)
, _mav(NULL)
, _currentMessageCount(0)
, _messageCount(0)
, _currentErrorCount(0)
, _currentWarningCount(0)
, _currentNormalCount(0)
, _currentMessageType(MessageNone)
, _updateCount(0)
, _rcRSSI(255)
, _rcRSSIstore(255)
, _onboardControlSensorsPresent(0)
, _onboardControlSensorsEnabled(0)
, _onboardControlSensorsHealth(0)
, _onboardControlSensorsUnhealthy(0)
, _gpsRawIntMessageAvailable(false)
, _globalPositionIntMessageAvailable(false)
, _defaultCruiseSpeed(_settingsManager->appSettings()->offlineEditingCruiseSpeed()->rawValue().toDouble())
, _defaultHoverSpeed(_settingsManager->appSettings()->offlineEditingHoverSpeed()->rawValue().toDouble())
, _telemetryRRSSI(0)
, _telemetryLRSSI(0)
, _telemetryRXErrors(0)
, _telemetryFixed(0)
, _telemetryTXBuffer(0)
, _telemetryLNoise(0)
, _telemetryRNoise(0)
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, _maxProtoVersion(0)
, _connectionLost(false)
, _connectionLostEnabled(true)
, _missionManagerInitialRequestSent(false)
, _geoFenceManagerInitialRequestSent(false)
, _rallyPointManager(NULL)
, _rallyPointManagerInitialRequestSent(false)
, _parameterManager(NULL)
, _armed(false)
, _base_mode(0)
, _custom_mode(0)
, _nextSendMessageMultipleIndex(0)
, _firmwarePluginManager(firmwarePluginManager)
, _joystickManager(joystickManager)
, _messagesReceived(0)
, _messagesSent(0)
, _messagesLost(0)
, _messageSeq(0)
, _compID(0)
, _heardFrom(false)
, _firmwareMajorVersion(versionNotSetValue)
, _firmwareMinorVersion(versionNotSetValue)
, _firmwarePatchVersion(versionNotSetValue)
, _firmwareCustomMajorVersion(versionNotSetValue)
, _firmwareCustomMinorVersion(versionNotSetValue)
, _firmwareCustomPatchVersion(versionNotSetValue)
, _firmwareVersionType(FIRMWARE_VERSION_TYPE_OFFICIAL)
, _lastAnnouncedLowBatteryPercent(100)
, _rollFact (0, _rollFactName, FactMetaData::valueTypeDouble)
, _pitchFact (0, _pitchFactName, FactMetaData::valueTypeDouble)
, _headingFact (0, _headingFactName, FactMetaData::valueTypeDouble)
, _rollRateFact (0, _rollRateFactName, FactMetaData::valueTypeDouble)
, _pitchRateFact (0, _pitchRateFactName, FactMetaData::valueTypeDouble)
, _yawRateFact (0, _yawRateFactName, FactMetaData::valueTypeDouble)
, _groundSpeedFact (0, _groundSpeedFactName, FactMetaData::valueTypeDouble)
, _airSpeedFact (0, _airSpeedFactName, FactMetaData::valueTypeDouble)
, _climbRateFact (0, _climbRateFactName, FactMetaData::valueTypeDouble)
, _altitudeRelativeFact (0, _altitudeRelativeFactName, FactMetaData::valueTypeDouble)
, _altitudeAMSLFact (0, _altitudeAMSLFactName, FactMetaData::valueTypeDouble)
, _flightDistanceFact (0, _flightDistanceFactName, FactMetaData::valueTypeDouble)
, _flightTimeFact (0, _flightTimeFactName, FactMetaData::valueTypeElapsedTimeInSeconds)
, _distanceToHomeFact (0, _distanceToHomeFactName, FactMetaData::valueTypeDouble)
, _hobbsFact (0, _hobbsFactName, FactMetaData::valueTypeString)
, _temperatureFactGroup(this)
, _distanceSensorFactGroup(this)
connect(_joystickManager, &JoystickManager::activeJoystickChanged, this, &Vehicle::_loadSettings);
connect(qgcApp()->toolbox()->multiVehicleManager(), &MultiVehicleManager::activeVehicleAvailableChanged, this, &Vehicle::_loadSettings);
_mavlink = _toolbox->mavlinkProtocol();
connect(_mavlink, &MAVLinkProtocol::messageReceived, this, &Vehicle::_mavlinkMessageReceived);
connect(this, &Vehicle::_sendMessageOnLinkOnThread, this, &Vehicle::_sendMessageOnLink, Qt::QueuedConnection);
connect(this, &Vehicle::flightModeChanged, this, &Vehicle::_handleFlightModeChanged);
connect(this, &Vehicle::armedChanged, this, &Vehicle::_announceArmedChanged);
connect(_toolbox->multiVehicleManager(), &MultiVehicleManager::parameterReadyVehicleAvailableChanged, this, &Vehicle::_vehicleParamLoaded);
_uas = new UAS(_mavlink, this, _firmwarePluginManager);
connect(_uas, &UAS::imageReady, this, &Vehicle::_imageReady);
connect(this, &Vehicle::remoteControlRSSIChanged, this, &Vehicle::_remoteControlRSSIChanged);
_autopilotPlugin = _firmwarePlugin->autopilotPlugin(this);
// connect this vehicle to the follow me handle manager
connect(this, &Vehicle::flightModeChanged,_toolbox->followMe(), &FollowMe::followMeHandleManager);
// PreArm Error self-destruct timer
connect(&_prearmErrorTimer, &QTimer::timeout, this, &Vehicle::_prearmErrorTimeout);
_prearmErrorTimer.setInterval(_prearmErrorTimeoutMSecs);
_prearmErrorTimer.setSingleShot(true);
// Connection Lost timer
_connectionLostTimer.setInterval(_connectionLostTimeoutMSecs);
_connectionLostTimer.setSingleShot(false);
_connectionLostTimer.start();
connect(&_connectionLostTimer, &QTimer::timeout, this, &Vehicle::_connectionLostTimeout);
// Send MAV_CMD ack timer
_mavCommandAckTimer.setSingleShot(true);
_mavCommandAckTimer.setInterval(_highLatencyLink ? _mavCommandAckTimeoutMSecsHighLatency : _mavCommandAckTimeoutMSecs);
connect(&_mavCommandAckTimer, &QTimer::timeout, this, &Vehicle::_sendMavCommandAgain);
connect(_toolbox->uasMessageHandler(), &UASMessageHandler::textMessageCountChanged, this, &Vehicle::_handleTextMessage);
connect(_toolbox->uasMessageHandler(), &UASMessageHandler::textMessageReceived, this, &Vehicle::_handletextMessageReceived);
// Now connect the new UAS
connect(_mav, SIGNAL(attitudeChanged (UASInterface*,double,double,double,quint64)), this, SLOT(_updateAttitude(UASInterface*, double, double, double, quint64)));
connect(_mav, SIGNAL(attitudeChanged (UASInterface*,int,double,double,double,quint64)), this, SLOT(_updateAttitude(UASInterface*,int,double, double, double, quint64)));
if (_highLatencyLink) {
// High latency links don't request information
_setMaxProtoVersion(100);
_setCapabilities(0);
_initialPlanRequestComplete = true;
_missionManagerInitialRequestSent = true;
_geoFenceManagerInitialRequestSent = true;
_rallyPointManagerInitialRequestSent = true;
} else {
// Ask the vehicle for protocol version info.
sendMavCommand(MAV_COMP_ID_ALL, // Don't know default component id yet.
MAV_CMD_REQUEST_PROTOCOL_VERSION,
false, // No error shown if fails
1); // Request protocol version
// Ask the vehicle for firmware version info.
sendMavCommand(MAV_COMP_ID_ALL, // Don't know default component id yet.
MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES,
false, // No error shown if fails
1); // Request firmware version
}
_firmwarePlugin->initializeVehicle(this);
_sendMultipleTimer.start(_sendMessageMultipleIntraMessageDelay);
connect(&_sendMultipleTimer, &QTimer::timeout, this, &Vehicle::_sendMessageMultipleNext);
_mapTrajectoryTimer.setInterval(_mapTrajectoryMsecsBetweenPoints);
connect(&_mapTrajectoryTimer, &QTimer::timeout, this, &Vehicle::_addNewMapTrajectoryPoint);
_cameras = _firmwarePlugin->createCameraManager(this);
// Disconnected Vehicle for offline editing
Vehicle::Vehicle(MAV_AUTOPILOT firmwareType,
MAV_TYPE vehicleType,
FirmwarePluginManager* firmwarePluginManager,
QObject* parent)
: FactGroup(_vehicleUIUpdateRateMSecs, ":/json/Vehicle/VehicleFact.json", parent)
, _id(0)
, _defaultComponentId(MAV_COMP_ID_ALL)
, _firmwareType(firmwareType)
, _vehicleType(vehicleType)
, _firmwarePluginInstanceData(NULL)
, _mavlink(NULL)
, _soloFirmware(false)
, _toolbox(qgcApp()->toolbox())
, _settingsManager(_toolbox->settingsManager())
, _joystickMode(JoystickModeRC)
, _joystickEnabled(false)
, _uas(NULL)
, _mav(NULL)
, _currentMessageCount(0)
, _messageCount(0)
, _currentErrorCount(0)
, _currentWarningCount(0)
, _currentNormalCount(0)
, _currentMessageType(MessageNone)
, _updateCount(0)
, _rcRSSI(255)
, _rcRSSIstore(255)
, _onboardControlSensorsPresent(0)
, _onboardControlSensorsEnabled(0)
, _onboardControlSensorsHealth(0)
, _onboardControlSensorsUnhealthy(0)
, _gpsRawIntMessageAvailable(false)
, _globalPositionIntMessageAvailable(false)
, _defaultCruiseSpeed(_settingsManager->appSettings()->offlineEditingCruiseSpeed()->rawValue().toDouble())
, _defaultHoverSpeed(_settingsManager->appSettings()->offlineEditingHoverSpeed()->rawValue().toDouble())
, _capabilityBits(_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA ? 0 : MAV_PROTOCOL_CAPABILITY_MISSION_FENCE | MAV_PROTOCOL_CAPABILITY_MISSION_RALLY)
, _connectionLost(false)
, _connectionLostEnabled(true)
, _missionManagerInitialRequestSent(false)
, _geoFenceManagerInitialRequestSent(false)
, _rallyPointManager(NULL)
, _rallyPointManagerInitialRequestSent(false)
, _parameterManager(NULL)
, _armed(false)
, _base_mode(0)
, _custom_mode(0)
, _nextSendMessageMultipleIndex(0)
, _firmwarePluginManager(firmwarePluginManager)
, _joystickManager(NULL)
, _flowImageIndex(0)
, _allLinksInactiveSent(false)
, _messagesReceived(0)
, _messagesSent(0)
, _messagesLost(0)
, _messageSeq(0)
, _compID(0)
, _heardFrom(false)
, _firmwareMajorVersion(versionNotSetValue)
, _firmwareMinorVersion(versionNotSetValue)
, _firmwarePatchVersion(versionNotSetValue)
, _firmwareCustomMajorVersion(versionNotSetValue)
, _firmwareCustomMinorVersion(versionNotSetValue)
, _firmwareCustomPatchVersion(versionNotSetValue)
, _firmwareVersionType(FIRMWARE_VERSION_TYPE_OFFICIAL)
, _lastAnnouncedLowBatteryPercent(100)
, _rollFact (0, _rollFactName, FactMetaData::valueTypeDouble)
, _pitchFact (0, _pitchFactName, FactMetaData::valueTypeDouble)
, _headingFact (0, _headingFactName, FactMetaData::valueTypeDouble)
, _rollRateFact (0, _rollRateFactName, FactMetaData::valueTypeDouble)
, _pitchRateFact (0, _pitchRateFactName, FactMetaData::valueTypeDouble)
, _yawRateFact (0, _yawRateFactName, FactMetaData::valueTypeDouble)
, _groundSpeedFact (0, _groundSpeedFactName, FactMetaData::valueTypeDouble)
, _airSpeedFact (0, _airSpeedFactName, FactMetaData::valueTypeDouble)
, _climbRateFact (0, _climbRateFactName, FactMetaData::valueTypeDouble)
, _altitudeRelativeFact (0, _altitudeRelativeFactName, FactMetaData::valueTypeDouble)
, _altitudeAMSLFact (0, _altitudeAMSLFactName, FactMetaData::valueTypeDouble)
, _flightDistanceFact (0, _flightDistanceFactName, FactMetaData::valueTypeDouble)
, _flightTimeFact (0, _flightTimeFactName, FactMetaData::valueTypeElapsedTimeInSeconds)
, _distanceToHomeFact (0, _distanceToHomeFactName, FactMetaData::valueTypeDouble)
, _hobbsFact (0, _hobbsFactName, FactMetaData::valueTypeString)
, _gpsFactGroup(this)
, _batteryFactGroup(this)
, _windFactGroup(this)
, _vibrationFactGroup(this)
, _distanceSensorFactGroup(this)
_firmwarePlugin->initializeVehicle(this);
}
void Vehicle::_commonInit(void)
{
_firmwarePlugin = _firmwarePluginManager->firmwarePluginForAutopilot(_firmwareType, _vehicleType);
connect(_firmwarePlugin, &FirmwarePlugin::toolbarIndicatorsChanged, this, &Vehicle::toolBarIndicatorsChanged);
connect(this, &Vehicle::coordinateChanged, this, &Vehicle::_updateDistanceToHome);
connect(this, &Vehicle::homePositionChanged, this, &Vehicle::_updateDistanceToHome);
connect(this, &Vehicle::hobbsMeterChanged, this, &Vehicle::_updateHobbsMeter);
_missionManager = new MissionManager(this);
connect(_missionManager, &MissionManager::error, this, &Vehicle::_missionManagerError);
connect(_missionManager, &MissionManager::newMissionItemsAvailable, this, &Vehicle::_missionLoadComplete);
connect(_missionManager, &MissionManager::newMissionItemsAvailable, this, &Vehicle::_clearCameraTriggerPoints);
connect(_missionManager, &MissionManager::newMissionItemsAvailable, this, &Vehicle::_clearTrajectoryPoints);
connect(_missionManager, &MissionManager::sendComplete, this, &Vehicle::_clearCameraTriggerPoints);
connect(_missionManager, &MissionManager::sendComplete, this, &Vehicle::_clearTrajectoryPoints);
_parameterManager = new ParameterManager(this);
connect(_parameterManager, &ParameterManager::parametersReadyChanged, this, &Vehicle::_parametersReady);
// GeoFenceManager needs to access ParameterManager so make sure to create after
_geoFenceManager = new GeoFenceManager(this);
connect(_geoFenceManager, &GeoFenceManager::error, this, &Vehicle::_geoFenceManagerError);
connect(_geoFenceManager, &GeoFenceManager::loadComplete, this, &Vehicle::_geoFenceLoadComplete);
_rallyPointManager = new RallyPointManager(this);
connect(_rallyPointManager, &RallyPointManager::error, this, &Vehicle::_rallyPointManagerError);
connect(_rallyPointManager, &RallyPointManager::loadComplete, this, &Vehicle::_rallyPointLoadComplete);
// Offline editing vehicle tracks settings changes for offline editing settings
connect(_settingsManager->appSettings()->offlineEditingFirmwareType(), &Fact::rawValueChanged, this, &Vehicle::_offlineFirmwareTypeSettingChanged);
connect(_settingsManager->appSettings()->offlineEditingVehicleType(), &Fact::rawValueChanged, this, &Vehicle::_offlineVehicleTypeSettingChanged);
connect(_settingsManager->appSettings()->offlineEditingCruiseSpeed(), &Fact::rawValueChanged, this, &Vehicle::_offlineCruiseSpeedSettingChanged);
connect(_settingsManager->appSettings()->offlineEditingHoverSpeed(), &Fact::rawValueChanged, this, &Vehicle::_offlineHoverSpeedSettingChanged);
// Flight modes can differ based on advanced mode
connect(_toolbox->corePlugin(), &QGCCorePlugin::showAdvancedUIChanged, this, &Vehicle::flightModesChanged);
// Build FactGroup object model
_addFact(&_rollFact, _rollFactName);
_addFact(&_pitchFact, _pitchFactName);
_addFact(&_headingFact, _headingFactName);
_addFact(&_rollRateFact, _rollRateFactName);
_addFact(&_pitchRateFact, _pitchRateFactName);
_addFact(&_yawRateFact, _yawRateFactName);
_addFact(&_groundSpeedFact, _groundSpeedFactName);
_addFact(&_airSpeedFact, _airSpeedFactName);
_addFact(&_climbRateFact, _climbRateFactName);
_addFact(&_altitudeRelativeFact, _altitudeRelativeFactName);
_addFact(&_altitudeAMSLFact, _altitudeAMSLFactName);
_addFact(&_flightDistanceFact, _flightDistanceFactName);
_addFact(&_flightTimeFact, _flightTimeFactName);
_addFact(&_distanceToHomeFact, _distanceToHomeFactName);
_hobbsFact.setRawValue(QVariant(QString("0000:00:00")));
_addFact(&_hobbsFact, _hobbsFactName);
_addFactGroup(&_gpsFactGroup, _gpsFactGroupName);
_addFactGroup(&_batteryFactGroup, _batteryFactGroupName);
_addFactGroup(&_windFactGroup, _windFactGroupName);
_addFactGroup(&_vibrationFactGroup, _vibrationFactGroupName);
_addFactGroup(&_temperatureFactGroup, _temperatureFactGroupName);
_addFactGroup(&_clockFactGroup, _clockFactGroupName);
_addFactGroup(&_distanceSensorFactGroup, _distanceSensorFactGroupName);
// Add firmware-specific fact groups, if provided
QMap<QString, FactGroup*>* fwFactGroups = _firmwarePlugin->factGroups();
if (fwFactGroups) {
QMapIterator<QString, FactGroup*> i(*fwFactGroups);
while(i.hasNext()) {
i.next();
_addFactGroup(i.value(), i.key());
}
_flightDistanceFact.setRawValue(0);
delete _missionManager;
_missionManager = NULL;
delete _autopilotPlugin;
_autopilotPlugin = NULL;
void Vehicle::prepareDelete()
{
if(_cameras) {
delete _cameras;
_cameras = NULL;
emit dynamicCamerasChanged();
qApp->processEvents();
}
}
void Vehicle::_offlineFirmwareTypeSettingChanged(QVariant value)
{
_firmwareType = static_cast<MAV_AUTOPILOT>(value.toInt());
emit firmwareTypeChanged();
if (_firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA) {
_capabilityBits = 0;
} else {
_capabilityBits = MAV_PROTOCOL_CAPABILITY_MISSION_FENCE | MAV_PROTOCOL_CAPABILITY_MISSION_RALLY;
}
emit capabilityBitsChanged(_capabilityBits);
}
void Vehicle::_offlineVehicleTypeSettingChanged(QVariant value)
{
_vehicleType = static_cast<MAV_TYPE>(value.toInt());
emit vehicleTypeChanged();
}
void Vehicle::_offlineCruiseSpeedSettingChanged(QVariant value)
{
_defaultCruiseSpeed = value.toDouble();
emit defaultCruiseSpeedChanged(_defaultCruiseSpeed);
}
void Vehicle::_offlineHoverSpeedSettingChanged(QVariant value)
{
_defaultHoverSpeed = value.toDouble();
emit defaultHoverSpeedChanged(_defaultHoverSpeed);
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}
QString Vehicle::firmwareTypeString(void) const
{
if (px4Firmware()) {
return QStringLiteral("PX4 Pro");
} else if (apmFirmware()) {
return QStringLiteral("ArduPilot");
} else {
return tr("MAVLink Generic");
}
}
QString Vehicle::vehicleTypeString(void) const
{
if (fixedWing()) {
return tr("Fixed Wing");
} else if (multiRotor()) {
return tr("Multi-Rotor");
} else if (vtol()) {
return tr("VTOL");
} else if (rover()) {
return tr("Rover");
} else if (sub()) {
return tr("Sub");
} else {
return tr("Unknown");
}
}
void Vehicle::resetCounters()
{
_messagesReceived = 0;
_messagesSent = 0;
_messagesLost = 0;
_messageSeq = 0;
_heardFrom = false;
}
void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message)
{
// if the minimum supported version of MAVLink is already 2.0
// set our max proto version to it.
unsigned mavlinkVersion = _mavlink->getCurrentVersion();
if (_maxProtoVersion != mavlinkVersion && mavlinkVersion >= 200) {
_maxProtoVersion = _mavlink->getCurrentVersion();
qCDebug(VehicleLog) << "Vehicle::_mavlinkMessageReceived setting _maxProtoVersion" << _maxProtoVersion;
}
// We allow RADIO_STATUS messages which come from a link the vehicle is using to pass through and be handled
if (!(message.msgid == MAVLINK_MSG_ID_RADIO_STATUS && _containsLink(link))) {
return;
}
if (!_containsLink(link)) {
_addLink(link);
}
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//-- Check link status
_messagesReceived++;
emit messagesReceivedChanged();
if(!_heardFrom) {
if(message.msgid == MAVLINK_MSG_ID_HEARTBEAT) {
_heardFrom = true;
_compID = message.compid;
_messageSeq = message.seq + 1;
}
} else {
if(_compID == message.compid) {
uint16_t seq_received = (uint16_t)message.seq;
uint16_t packet_lost_count = 0;
//-- Account for overflow during packet loss
if(seq_received < _messageSeq) {
packet_lost_count = (seq_received + 255) - _messageSeq;
} else {
packet_lost_count = seq_received - _messageSeq;
}
_messageSeq = message.seq + 1;
_messagesLost += packet_lost_count;
if(packet_lost_count)
emit messagesLostChanged();
}
}
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// Mark this vehicle as active - but only if the traffic is coming from
// the actual vehicle
if (message.sysid == _id) {
_connectionActive();
}
// Give the plugin a change to adjust the message contents
if (!_firmwarePlugin->adjustIncomingMavlinkMessage(this, &message)) {
return;
}
// Give the Core Plugin access to all mavlink traffic
if (!_toolbox->corePlugin()->mavlinkMessage(this, link, message)) {
return;
}
case MAVLINK_MSG_ID_HOME_POSITION:
_handleHomePosition(message);
break;
case MAVLINK_MSG_ID_HEARTBEAT:
_handleHeartbeat(message);
break;
case MAVLINK_MSG_ID_RADIO_STATUS:
_handleRadioStatus(message);
break;
case MAVLINK_MSG_ID_RC_CHANNELS:
_handleRCChannels(message);
break;
case MAVLINK_MSG_ID_RC_CHANNELS_RAW:
_handleRCChannelsRaw(message);
break;
case MAVLINK_MSG_ID_BATTERY_STATUS:
_handleBatteryStatus(message);
break;
case MAVLINK_MSG_ID_SYS_STATUS:
_handleSysStatus(message);
break;
case MAVLINK_MSG_ID_RAW_IMU:
emit mavlinkRawImu(message);
break;
case MAVLINK_MSG_ID_SCALED_IMU:
emit mavlinkScaledImu1(message);
break;
case MAVLINK_MSG_ID_SCALED_IMU2:
emit mavlinkScaledImu2(message);
break;
case MAVLINK_MSG_ID_SCALED_IMU3:
emit mavlinkScaledImu3(message);
break;
case MAVLINK_MSG_ID_VIBRATION:
_handleVibration(message);
break;
case MAVLINK_MSG_ID_EXTENDED_SYS_STATE:
_handleExtendedSysState(message);
break;
case MAVLINK_MSG_ID_COMMAND_ACK:
_handleCommandAck(message);
break;
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case MAVLINK_MSG_ID_COMMAND_LONG:
_handleCommandLong(message);
break;
case MAVLINK_MSG_ID_AUTOPILOT_VERSION:
case MAVLINK_MSG_ID_PROTOCOL_VERSION:
_handleProtocolVersion(link, message);
break;
case MAVLINK_MSG_ID_WIND_COV:
_handleWindCov(message);
break;
case MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS:
_handleHilActuatorControls(message);
break;
case MAVLINK_MSG_ID_LOGGING_DATA:
_handleMavlinkLoggingData(message);
break;
case MAVLINK_MSG_ID_LOGGING_DATA_ACKED:
_handleMavlinkLoggingDataAcked(message);
break;
case MAVLINK_MSG_ID_GPS_RAW_INT:
_handleGpsRawInt(message);
break;
case MAVLINK_MSG_ID_GLOBAL_POSITION_INT:
_handleGlobalPositionInt(message);
break;
case MAVLINK_MSG_ID_ALTITUDE:
_handleAltitude(message);
break;
case MAVLINK_MSG_ID_VFR_HUD:
_handleVfrHud(message);
break;
case MAVLINK_MSG_ID_SCALED_PRESSURE:
_handleScaledPressure(message);
break;
case MAVLINK_MSG_ID_SCALED_PRESSURE2:
_handleScaledPressure2(message);
break;
case MAVLINK_MSG_ID_SCALED_PRESSURE3:
_handleScaledPressure3(message);
case MAVLINK_MSG_ID_CAMERA_IMAGE_CAPTURED:
_handleCameraImageCaptured(message);
case MAVLINK_MSG_ID_ADSB_VEHICLE:
_handleADSBVehicle(message);
break;
case MAVLINK_MSG_ID_HIGH_LATENCY2:
_handleHighLatency2(message);
break;
case MAVLINK_MSG_ID_ATTITUDE:
_handleAttitude(message);
break;
case MAVLINK_MSG_ID_ATTITUDE_TARGET:
_handleAttitudeTarget(message);
break;
case MAVLINK_MSG_ID_DISTANCE_SENSOR:
_handleDistanceSensor(message);
break;
case MAVLINK_MSG_ID_SERIAL_CONTROL:
{
mavlink_serial_control_t ser;
mavlink_msg_serial_control_decode(&message, &ser);
emit mavlinkSerialControl(ser.device, ser.flags, ser.timeout, ser.baudrate, QByteArray(reinterpret_cast<const char*>(ser.data), ser.count));
}
break;
// Following are ArduPilot dialect messages
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#if !defined(NO_ARDUPILOT_DIALECT)
case MAVLINK_MSG_ID_CAMERA_FEEDBACK:
_handleCameraFeedback(message);
break;
case MAVLINK_MSG_ID_WIND:
_handleWind(message);
break;
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#endif
// This must be emitted after the vehicle processes the message. This way the vehicle state is up to date when anyone else
// does processing.
_uas->receiveMessage(message);
}
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#if !defined(NO_ARDUPILOT_DIALECT)
void Vehicle::_handleCameraFeedback(const mavlink_message_t& message)
{
mavlink_camera_feedback_t feedback;
mavlink_msg_camera_feedback_decode(&message, &feedback);
QGeoCoordinate imageCoordinate((double)feedback.lat / qPow(10.0, 7.0), (double)feedback.lng / qPow(10.0, 7.0), feedback.alt_msl);
qCDebug(VehicleLog) << "_handleCameraFeedback coord:index" << imageCoordinate << feedback.img_idx;
_cameraTriggerPoints.append(new QGCQGeoCoordinate(imageCoordinate, this));
}
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#endif
void Vehicle::_handleCameraImageCaptured(const mavlink_message_t& message)
{
mavlink_camera_image_captured_t feedback;
mavlink_msg_camera_image_captured_decode(&message, &feedback);
QGeoCoordinate imageCoordinate((double)feedback.lat / qPow(10.0, 7.0), (double)feedback.lon / qPow(10.0, 7.0), feedback.alt);
qCDebug(VehicleLog) << "_handleCameraFeedback coord:index" << imageCoordinate << feedback.image_index << feedback.capture_result;
if (feedback.capture_result == 1) {
_cameraTriggerPoints.append(new QGCQGeoCoordinate(imageCoordinate, this));
}
}
void Vehicle::_handleVfrHud(mavlink_message_t& message)
{
mavlink_vfr_hud_t vfrHud;
mavlink_msg_vfr_hud_decode(&message, &vfrHud);
_airSpeedFact.setRawValue(qIsNaN(vfrHud.airspeed) ? 0 : vfrHud.airspeed);
_groundSpeedFact.setRawValue(qIsNaN(vfrHud.groundspeed) ? 0 : vfrHud.groundspeed);
_climbRateFact.setRawValue(qIsNaN(vfrHud.climb) ? 0 : vfrHud.climb);
}
void Vehicle::_handleDistanceSensor(mavlink_message_t& message)
{
mavlink_distance_sensor_t distanceSensor;
mavlink_msg_distance_sensor_decode(&message, &distanceSensor);\
if (!_distanceSensorFactGroup.idSet()) {
_distanceSensorFactGroup.setIdSet(true);
_id = distanceSensor.id;
}
if (_id != distanceSensor.id) {
// We can only handle a single sensor reporting
return;
}
struct orientation2Fact_s {
MAV_SENSOR_ORIENTATION orientation;
Fact* fact;
};
orientation2Fact_s rgOrientation2Fact[] =
{
{ MAV_SENSOR_ROTATION_NONE, _distanceSensorFactGroup.rotationNone() },
{ MAV_SENSOR_ROTATION_YAW_45, _distanceSensorFactGroup.rotationYaw45() },
{ MAV_SENSOR_ROTATION_YAW_90, _distanceSensorFactGroup.rotationYaw90() },
{ MAV_SENSOR_ROTATION_YAW_135, _distanceSensorFactGroup.rotationYaw135() },
{ MAV_SENSOR_ROTATION_YAW_180, _distanceSensorFactGroup.rotationYaw180() },
{ MAV_SENSOR_ROTATION_YAW_225, _distanceSensorFactGroup.rotationYaw225() },
{ MAV_SENSOR_ROTATION_YAW_270, _distanceSensorFactGroup.rotationYaw270() },
{ MAV_SENSOR_ROTATION_YAW_315, _distanceSensorFactGroup.rotationYaw315() },
{ MAV_SENSOR_ROTATION_PITCH_90, _distanceSensorFactGroup.rotationPitch90() },
{ MAV_SENSOR_ROTATION_PITCH_270, _distanceSensorFactGroup.rotationPitch270() },
};
for (size_t i=0; i<sizeof(rgOrientation2Fact)/sizeof(rgOrientation2Fact[0]); i++) {
const orientation2Fact_s& orientation2Fact = rgOrientation2Fact[i];
if (orientation2Fact.orientation == distanceSensor.orientation) {
orientation2Fact.fact->setRawValue(distanceSensor.current_distance / 100.0); // cm to meters
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void Vehicle::_handleAttitudeTarget(mavlink_message_t& message)
{
mavlink_attitude_target_t attitudeTarget;
mavlink_msg_attitude_target_decode(&message, &attitudeTarget);
float roll, pitch, yaw;
mavlink_quaternion_to_euler(attitudeTarget.q, &roll, &pitch, &yaw);
_setpointFactGroup.roll()->setRawValue(roll);
_setpointFactGroup.pitch()->setRawValue(pitch);
_setpointFactGroup.yaw()->setRawValue(yaw);
_setpointFactGroup.rollRate()->setRawValue(qRadiansToDegrees(attitudeTarget.body_roll_rate));
_setpointFactGroup.pitchRate()->setRawValue(qRadiansToDegrees(attitudeTarget.body_pitch_rate));
_setpointFactGroup.yawRate()->setRawValue(qRadiansToDegrees(attitudeTarget.body_yaw_rate));
}
void Vehicle::_handleAttitude(mavlink_message_t& message)
{
mavlink_attitude_t attitude;
mavlink_msg_attitude_decode(&message, &attitude);
rollRate()->setRawValue(qRadiansToDegrees(attitude.rollspeed));
pitchRate()->setRawValue(qRadiansToDegrees(attitude.pitchspeed));
yawRate()->setRawValue(qRadiansToDegrees(attitude.yawspeed));
}
void Vehicle::_handleGpsRawInt(mavlink_message_t& message)
{
mavlink_gps_raw_int_t gpsRawInt;
mavlink_msg_gps_raw_int_decode(&message, &gpsRawInt);
_gpsRawIntMessageAvailable = true;
if (gpsRawInt.fix_type >= GPS_FIX_TYPE_3D_FIX) {
if (!_globalPositionIntMessageAvailable) {
//-- Set these here and emit a single signal instead of 3 for the same variable (_coordinate)
_coordinate.setLatitude(gpsRawInt.lat / (double)1E7);
_coordinate.setLongitude(gpsRawInt.lon / (double)1E7);
_coordinate.setAltitude(gpsRawInt.alt / 1000.0);
emit coordinateChanged(_coordinate);
_altitudeAMSLFact.setRawValue(gpsRawInt.alt / 1000.0);
_gpsFactGroup.lat()->setRawValue(gpsRawInt.lat * 1e-7);
_gpsFactGroup.lon()->setRawValue(gpsRawInt.lon * 1e-7);
_gpsFactGroup.count()->setRawValue(gpsRawInt.satellites_visible == 255 ? 0 : gpsRawInt.satellites_visible);
_gpsFactGroup.hdop()->setRawValue(gpsRawInt.eph == UINT16_MAX ? std::numeric_limits<double>::quiet_NaN() : gpsRawInt.eph / 100.0);
_gpsFactGroup.vdop()->setRawValue(gpsRawInt.epv == UINT16_MAX ? std::numeric_limits<double>::quiet_NaN() : gpsRawInt.epv / 100.0);
_gpsFactGroup.courseOverGround()->setRawValue(gpsRawInt.cog == UINT16_MAX ? std::numeric_limits<double>::quiet_NaN() : gpsRawInt.cog / 100.0);
_gpsFactGroup.lock()->setRawValue(gpsRawInt.fix_type);
}
void Vehicle::_handleGlobalPositionInt(mavlink_message_t& message)
{
mavlink_global_position_int_t globalPositionInt;
mavlink_msg_global_position_int_decode(&message, &globalPositionInt);
_altitudeRelativeFact.setRawValue(globalPositionInt.relative_alt / 1000.0);
_altitudeAMSLFact.setRawValue(globalPositionInt.alt / 1000.0);
// ArduPilot sends bogus GLOBAL_POSITION_INT messages with lat/lat 0/0 even when it has no gps signal
// Apparently, this is in order to transport relative altitude information.
if (globalPositionInt.lat == 0 && globalPositionInt.lon == 0) {
_globalPositionIntMessageAvailable = true;
//-- Set these here and emit a single signal instead of 3 for the same variable (_coordinate)
_coordinate.setLatitude(globalPositionInt.lat / (double)1E7);
_coordinate.setLongitude(globalPositionInt.lon / (double)1E7);
_coordinate.setAltitude(globalPositionInt.alt / 1000.0);
emit coordinateChanged(_coordinate);
void Vehicle::_handleHighLatency2(mavlink_message_t& message)
{
mavlink_high_latency2_t highLatency2;
mavlink_msg_high_latency2_decode(&message, &highLatency2);
QString previousFlightMode;
if (_base_mode != 0 || _custom_mode != 0){
// Vehicle is initialized with _base_mode=0 and _custom_mode=0. Don't pass this to flightMode() since it will complain about
// bad modes while unit testing.
previousFlightMode = flightMode();
}
_base_mode = MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
_custom_mode = _firmwarePlugin->highLatencyCustomModeTo32Bits(highLatency2.custom_mode);
if (previousFlightMode != flightMode()) {
emit flightModeChanged(flightMode());
}
// Assume armed since we don't know
if (_armed != true) {
_armed = true;
emit armedChanged(_armed);
}
_coordinate.setLatitude(highLatency2.latitude / (double)1E7);
_coordinate.setLongitude(highLatency2.longitude / (double)1E7);
_coordinate.setAltitude(highLatency2.altitude);
emit coordinateChanged(_coordinate);
_airSpeedFact.setRawValue((double)highLatency2.airspeed / 5.0);
_groundSpeedFact.setRawValue((double)highLatency2.groundspeed / 5.0);
_climbRateFact.setRawValue((double)highLatency2.climb_rate / 10.0);
_headingFact.setRawValue((double)highLatency2.heading * 2.0);
_altitudeRelativeFact.setRawValue(std::numeric_limits<double>::quiet_NaN());
_altitudeAMSLFact.setRawValue(highLatency2.altitude);
_windFactGroup.direction()->setRawValue((double)highLatency2.wind_heading * 2.0);
_windFactGroup.speed()->setRawValue((double)highLatency2.windspeed / 5.0);
_batteryFactGroup.percentRemaining()->setRawValue(highLatency2.battery);
_temperatureFactGroup.temperature1()->setRawValue(highLatency2.temperature_air);
_gpsFactGroup.lat()->setRawValue(highLatency2.latitude * 1e-7);
_gpsFactGroup.lon()->setRawValue(highLatency2.longitude * 1e-7);
_gpsFactGroup.count()->setRawValue(0);
_gpsFactGroup.hdop()->setRawValue(highLatency2.eph == UINT8_MAX ? std::numeric_limits<double>::quiet_NaN() : highLatency2.eph / 10.0);
_gpsFactGroup.vdop()->setRawValue(highLatency2.epv == UINT8_MAX ? std::numeric_limits<double>::quiet_NaN() : highLatency2.epv / 10.0);
MAV_SYS_STATUS_SENSOR sensorBit;
};
static const failure2Sensor_s rgFailure2Sensor[] = {
{ HL_FAILURE_FLAG_GPS, MAV_SYS_STATUS_SENSOR_GPS },
{ HL_FAILURE_FLAG_DIFFERENTIAL_PRESSURE, MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE },
{ HL_FAILURE_FLAG_ABSOLUTE_PRESSURE, MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE },
{ HL_FAILURE_FLAG_3D_ACCEL, MAV_SYS_STATUS_SENSOR_3D_ACCEL },
{ HL_FAILURE_FLAG_3D_GYRO, MAV_SYS_STATUS_SENSOR_3D_GYRO },
{ HL_FAILURE_FLAG_3D_MAG, MAV_SYS_STATUS_SENSOR_3D_MAG },
};
// Map from MAV_FAILURE bits to standard SYS_STATUS message handling
uint32_t newOnboardControlSensorsEnabled = 0;
for (size_t i=0; i<sizeof(rgFailure2Sensor)/sizeof(failure2Sensor_s); i++) {
const failure2Sensor_s* pFailure2Sensor = &rgFailure2Sensor[i];
if (highLatency2.failure_flags & pFailure2Sensor->failureBit) {
// Assume if reporting as unhealthy that is it present and enabled
newOnboardControlSensorsEnabled |= pFailure2Sensor->sensorBit;
}
}
if (newOnboardControlSensorsEnabled != _onboardControlSensorsEnabled) {
_onboardControlSensorsEnabled = newOnboardControlSensorsEnabled;
_onboardControlSensorsPresent = newOnboardControlSensorsEnabled;
_onboardControlSensorsUnhealthy = 0;
emit unhealthySensorsChanged();
}
void Vehicle::_handleAltitude(mavlink_message_t& message)
{
mavlink_altitude_t altitude;
mavlink_msg_altitude_decode(&message, &altitude);
// If data from GPS is available it takes precedence over ALTITUDE message
if (!_globalPositionIntMessageAvailable) {
_altitudeRelativeFact.setRawValue(altitude.altitude_relative);
if (!_gpsRawIntMessageAvailable) {