UAS.cc

                {
                    if(serial != links->at(i))
                    {
                        if (link->isConnected()) {
                            qDebug()<<"Antenna tracking: Forwarding Over link: "<<serial->getName()<<" "<<serial;
                            sendMessage(serial, message);
                        }
                    }
                }
            }
        }
    }
}

/**
* Send a message to the link that is connected.
* @param link that the message will be sent to
* @message that is to be sent
*/
void UAS::sendMessage(LinkInterface* link, mavlink_message_t message)
{
    if(!link) return;
    // Create buffer
    uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
    // Write message into buffer, prepending start sign
    int len = mavlink_msg_to_send_buffer(buffer, &message);
    static uint8_t messageKeys[256] = MAVLINK_MESSAGE_CRCS;
    mavlink_finalize_message_chan(&message, mavlink->getSystemId(), mavlink->getComponentId(), link->getId(), message.len, messageKeys[message.msgid]);

    // If link is connected
    if (link->isConnected())
    {
        // Send the portion of the buffer now occupied by the message
        link->writeBytes((const char*)buffer, len);
    }
    else
    {
        qDebug() << "LINK NOT CONNECTED, NOT SENDING!";
    }
}

/**
 * @param value battery voltage
 */
float UAS::filterVoltage(float value) const
{
    return lpVoltage * 0.6f + value * 0.4f;
}

/**
* 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.toStdString().size());
        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!";
        }
    }
    // Restart statemachine
    imagePacketsArrived = 0;
    //imageRecBuffer.clear();
    return image;

}

void UAS::requestImage()
{
    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);
        sendMessage(msg);
    }
}


/* MANAGEMENT */

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

int UAS::getCommunicationStatus() const
{
    return commStatus;
}

void UAS::requestParameters()
{
    mavlink_message_t msg;
    mavlink_msg_param_request_list_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), MAV_COMP_ID_ALL);
    sendMessage(msg);

    QDateTime time = QDateTime::currentDateTime();
    qDebug() << __FILE__ << ":" << __LINE__ << time.toString() << "LOADING PARAM LIST";
}

void UAS::writeParametersToStorage()
{
    mavlink_message_t msg;
    mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, MAV_CMD_PREFLIGHT_STORAGE, 1, 1, -1, -1, -1, 0, 0, 0);
    qDebug() << "SENT COMMAND" << MAV_CMD_PREFLIGHT_STORAGE;
    sendMessage(msg);
}

void UAS::readParametersFromStorage()
{
    mavlink_message_t msg;
    mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, MAV_CMD_PREFLIGHT_STORAGE, 1, 0, -1, -1, -1, 0, 0, 0);
    sendMessage(msg);
}

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

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

/**
* @param rate The update rate in Hz the message should be sent
*/
void UAS::enableAllDataTransmission(int rate)
{
    // Buffers to write data to
    mavlink_message_t msg;
    mavlink_request_data_stream_t stream;
    // Select the message to request from now on
    // 0 is a magic ID and will enable/disable the standard message set except for heartbeat
    stream.req_stream_id = MAV_DATA_STREAM_ALL;
    // Select the update rate in Hz the message should be send
    // All messages will be send with their default rate
    // TODO: use 0 to turn off and get rid of enable/disable? will require
    //  a different magic flag for turning on defaults, possibly something really high like 1111 ?
    stream.req_message_rate = 0;
    // Start / stop the message
    stream.start_stop = (rate) ? 1 : 0;
    // The system which should take this command
    stream.target_system = uasId;
    // The component / subsystem which should take this command
    stream.target_component = 0;
    // Encode and send the message
    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
    // Send message twice to increase chance of reception
    sendMessage(msg);
}

/**
* @param rate The update rate in Hz the message should be sent
*/
void UAS::enableRawSensorDataTransmission(int rate)
{
    // Buffers to write data to
    mavlink_message_t msg;
    mavlink_request_data_stream_t stream;
    // Select the message to request from now on
    stream.req_stream_id = MAV_DATA_STREAM_RAW_SENSORS;
    // Select the update rate in Hz the message should be send
    stream.req_message_rate = rate;
    // Start / stop the message
    stream.start_stop = (rate) ? 1 : 0;
    // The system which should take this command
    stream.target_system = uasId;
    // The component / subsystem which should take this command
    stream.target_component = 0;
    // Encode and send the message
    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
    // Send message twice to increase chance of reception
    sendMessage(msg);
}

/**
* @param rate The update rate in Hz the message should be sent
*/
void UAS::enableExtendedSystemStatusTransmission(int rate)
{
    // Buffers to write data to
    mavlink_message_t msg;
    mavlink_request_data_stream_t stream;
    // Select the message to request from now on
    stream.req_stream_id = MAV_DATA_STREAM_EXTENDED_STATUS;
    // Select the update rate in Hz the message should be send
    stream.req_message_rate = rate;
    // Start / stop the message
    stream.start_stop = (rate) ? 1 : 0;
    // The system which should take this command
    stream.target_system = uasId;
    // The component / subsystem which should take this command
    stream.target_component = 0;
    // Encode and send the message
    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
    // Send message twice to increase chance of reception
    sendMessage(msg);
}

/**
* @param rate The update rate in Hz the message should be sent
*/
void UAS::enableRCChannelDataTransmission(int rate)
{
#if defined(MAVLINK_ENABLED_UALBERTA_MESSAGES)
    mavlink_message_t msg;
    mavlink_msg_request_rc_channels_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, enabled);
    sendMessage(msg);
#else
    mavlink_message_t msg;
    mavlink_request_data_stream_t stream;
    // Select the message to request from now on
    stream.req_stream_id = MAV_DATA_STREAM_RC_CHANNELS;
    // Select the update rate in Hz the message should be send
    stream.req_message_rate = rate;
    // Start / stop the message
    stream.start_stop = (rate) ? 1 : 0;
    // The system which should take this command
    stream.target_system = uasId;
    // The component / subsystem which should take this command
    stream.target_component = 0;
    // Encode and send the message
    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
    // Send message twice to increase chance of reception
    sendMessage(msg);
#endif
}

/**
* @param rate The update rate in Hz the message should be sent
*/
void UAS::enableRawControllerDataTransmission(int rate)
{
    // Buffers to write data to
    mavlink_message_t msg;
    mavlink_request_data_stream_t stream;
    // Select the message to request from now on
    stream.req_stream_id = MAV_DATA_STREAM_RAW_CONTROLLER;
    // Select the update rate in Hz the message should be send
    stream.req_message_rate = rate;
    // Start / stop the message
    stream.start_stop = (rate) ? 1 : 0;
    // The system which should take this command
    stream.target_system = uasId;
    // The component / subsystem which should take this command
    stream.target_component = 0;
    // Encode and send the message
    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
    // Send message twice to increase chance of reception
    sendMessage(msg);
}

//void UAS::enableRawSensorFusionTransmission(int rate)
//{
//    // Buffers to write data to
//    mavlink_message_t msg;
//    mavlink_request_data_stream_t stream;
//    // Select the message to request from now on
//    stream.req_stream_id = MAV_DATA_STREAM_RAW_SENSOR_FUSION;
//    // Select the update rate in Hz the message should be send
//    stream.req_message_rate = rate;
//    // Start / stop the message
//    stream.start_stop = (rate) ? 1 : 0;
//    // The system which should take this command
//    stream.target_system = uasId;
//    // The component / subsystem which should take this command
//    stream.target_component = 0;
//    // Encode and send the message
//    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
//    // Send message twice to increase chance of reception
//    sendMessage(msg);
//    sendMessage(msg);
//}

/**
* @param rate The update rate in Hz the message should be sent
*/
void UAS::enablePositionTransmission(int rate)
{
    // Buffers to write data to
    mavlink_message_t msg;
    mavlink_request_data_stream_t stream;
    // Select the message to request from now on
    stream.req_stream_id = MAV_DATA_STREAM_POSITION;
    // Select the update rate in Hz the message should be send
    stream.req_message_rate = rate;
    // Start / stop the message
    stream.start_stop = (rate) ? 1 : 0;
    // The system which should take this command
    stream.target_system = uasId;
    // The component / subsystem which should take this command
    stream.target_component = 0;
    // Encode and send the message
    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
    // Send message twice to increase chance of reception
    sendMessage(msg);
}

/**
* @param rate The update rate in Hz the message should be sent
*/
void UAS::enableExtra1Transmission(int rate)
{
    // Buffers to write data to
    mavlink_message_t msg;
    mavlink_request_data_stream_t stream;
    // Select the message to request from now on
    stream.req_stream_id = MAV_DATA_STREAM_EXTRA1;
    // Select the update rate in Hz the message should be send
    stream.req_message_rate = rate;
    // Start / stop the message
    stream.start_stop = (rate) ? 1 : 0;
    // The system which should take this command
    stream.target_system = uasId;
    // The component / subsystem which should take this command
    stream.target_component = 0;
    // Encode and send the message
    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
}

/**
* @param rate The update rate in Hz the message should be sent
*/
void UAS::enableExtra2Transmission(int rate)
{
    // Buffers to write data to
    mavlink_message_t msg;
    mavlink_request_data_stream_t stream;
    // Select the message to request from now on
    stream.req_stream_id = MAV_DATA_STREAM_EXTRA2;
    // Select the update rate in Hz the message should be send
    stream.req_message_rate = rate;
    // Start / stop the message
    stream.start_stop = (rate) ? 1 : 0;
    // The system which should take this command
    stream.target_system = uasId;
    // The component / subsystem which should take this command
    stream.target_component = 0;
    // Encode and send the message
    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
}

/**
* @param rate The update rate in Hz the message should be sent
*/
void UAS::enableExtra3Transmission(int rate)
{
    // Buffers to write data to
    mavlink_message_t msg;
    mavlink_request_data_stream_t stream;
    // Select the message to request from now on
    stream.req_stream_id = MAV_DATA_STREAM_EXTRA3;
    // Select the update rate in Hz the message should be send
    stream.req_message_rate = rate;
    // Start / stop the message
    stream.start_stop = (rate) ? 1 : 0;
    // The system which should take this command
    stream.target_system = uasId;
    // The component / subsystem which should take this command
    stream.target_component = 0;
    // Encode and send the message
    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
}

/**
 * Set a parameter value onboard
 *
 * @param component The component to set the parameter
 * @param id Name of the parameter
 */
void UAS::setParameter(const int compId, const QString& paramId, const QVariant& value)
{
    if (!paramId.isNull())
    {
        mavlink_message_t msg;
        mavlink_param_set_t p;
        mavlink_param_union_t union_value;

        // Assign correct value based on QVariant
        // TODO: This is a hack for MAV_AUTOPILOT_ARDUPILOTMEGA until the new version of MAVLink and a fix for their param handling.
        if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA)
        {
            switch ((int)value.type())
            {
            case QVariant::Char:
                union_value.param_float = (unsigned char)value.toChar().toAscii();
                p.param_type = MAV_PARAM_TYPE_INT8;
                break;
            case QVariant::Int:
                union_value.param_float = value.toInt();
                p.param_type = MAV_PARAM_TYPE_INT32;
                break;
            case QVariant::UInt:
                union_value.param_float = value.toUInt();
                p.param_type = MAV_PARAM_TYPE_UINT32;
                break;
            case QMetaType::Float:
                union_value.param_float = value.toFloat();
                p.param_type = MAV_PARAM_TYPE_REAL32;
                break;
            default:
                qCritical() << "ABORTED PARAM SEND, NO VALID QVARIANT TYPE";
                return;
            }
        }
        else
        {
            switch ((int)value.type())
            {
            case QVariant::Char:
                union_value.param_int8 = (unsigned char)value.toChar().toAscii();
                p.param_type = MAV_PARAM_TYPE_INT8;
                break;
            case QVariant::Int:
                union_value.param_int32 = value.toInt();
                p.param_type = MAV_PARAM_TYPE_INT32;
                break;
            case QVariant::UInt:
                union_value.param_uint32 = value.toUInt();
                p.param_type = MAV_PARAM_TYPE_UINT32;
                break;
            case QMetaType::Float:
                union_value.param_float = value.toFloat();
                p.param_type = MAV_PARAM_TYPE_REAL32;
                break;
            default:
                qCritical() << "ABORTED PARAM SEND, NO VALID QVARIANT TYPE";
                return;
            }
        }

        p.param_value = union_value.param_float;
        p.target_system = (uint8_t)uasId;
        p.target_component = (uint8_t)compId;

        //qDebug() << "SENT PARAM:" << value;

        // Copy string into buffer, ensuring not to exceed the buffer size
        for (unsigned int i = 0; i < sizeof(p.param_id); i++)
        {
            // String characters
            if ((int)i < paramId.length())
            {
                p.param_id[i] = paramId.toAscii()[i];
            }
            else
            {
                // Fill rest with zeros
                p.param_id[i] = 0;
            }
        }
        mavlink_msg_param_set_encode(mavlink->getSystemId(), compId, &msg, &p);
        sendMessage(msg);
    }
}




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

    // Insert component if necessary
    if (!parameters.contains(compId)) {
        parameters.insert(compId, new QMap<QString, QVariant>());
    }

    // Insert parameter into registry
    if (parameters.value(compId)->contains(paramName)) {
        parameters.value(compId)->remove(paramName);
    }

    QVariant param;

    // Insert with correct type
    // TODO: This is a hack for MAV_AUTOPILOT_ARDUPILOTMEGA until the new version of MAVLink and a fix for their param handling.
    switch (rawValue.param_type)
    {
    case MAV_PARAM_TYPE_REAL32:
    {
        if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
            param = QVariant(paramValue.param_float);
        }
        else {
            param = QVariant(paramValue.param_float);
        }
        parameters.value(compId)->insert(paramName, param);
        // Emit change
        emit parameterChanged(uasId, compId, paramName, param);
        emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
//                qDebug() << "RECEIVED PARAM:" << param;
    }
        break;
    case MAV_PARAM_TYPE_UINT8:
    {
        if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
            param = QVariant(QChar((unsigned char)paramValue.param_float));
        }
        else {
            param = QVariant(QChar((unsigned char)paramValue.param_uint8));
        }
        parameters.value(compId)->insert(paramName, param);
        // Emit change
        emit parameterChanged(uasId, compId, paramName, param);
        emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
        //qDebug() << "RECEIVED PARAM:" << param;
    }
        break;
    case MAV_PARAM_TYPE_INT8:
    {
        if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
            param = QVariant(QChar((char)paramValue.param_float));
        }
        else  {
            param = QVariant(QChar((char)paramValue.param_int8));
        }
        parameters.value(compId)->insert(paramName, param);
        // Emit change
        emit parameterChanged(uasId, compId, paramName, param);
        emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
        //qDebug() << "RECEIVED PARAM:" << param;
    }
        break;
    case MAV_PARAM_TYPE_INT16:
    {
        if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
            param = QVariant((short)paramValue.param_float);
        }
        else {
            param = QVariant(paramValue.param_int16);
        }
        parameters.value(compId)->insert(paramName, param);
        // Emit change
        emit parameterChanged(uasId, compId, paramName, param);
        emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
        //qDebug() << "RECEIVED PARAM:" << param;
    }
        break;
    case MAV_PARAM_TYPE_UINT32:
    {
        if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
            param = QVariant((unsigned int)paramValue.param_float);
        }
        else {
            param = QVariant(paramValue.param_uint32);
        }
        parameters.value(compId)->insert(paramName, param);
        // Emit change
        emit parameterChanged(uasId, compId, paramName, param);
        emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
    }
        break;
    case MAV_PARAM_TYPE_INT32:
    {
        if (getAutopilotType() == MAV_AUTOPILOT_ARDUPILOTMEGA) {
            param = QVariant((int)paramValue.param_float);
        }
        else {
            param = QVariant(paramValue.param_int32);
        }
        parameters.value(compId)->insert(paramName, param);
        // Emit change
        emit parameterChanged(uasId, compId, paramName, param);
        emit parameterChanged(uasId, compId, rawValue.param_count, rawValue.param_index, paramName, param);
//                qDebug() << "RECEIVED PARAM:" << param;
    }
        break;
    default:
        qCritical() << "INVALID DATA TYPE USED AS PARAMETER VALUE: " << rawValue.param_type;
    } //switch (value.param_type)

}

/**
* Request parameter, use parameter name to request it.
*/
void UAS::requestParameter(int component, int id)
{
    // Request parameter, use parameter name to request it
    mavlink_message_t msg;
    mavlink_param_request_read_t read;
    read.param_index = id;
    read.param_id[0] = '\0'; // Enforce null termination
    read.target_system = uasId;
    read.target_component = component;
    mavlink_msg_param_request_read_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &read);
    sendMessage(msg);
    //qDebug() << __FILE__ << __LINE__ << "REQUESTING PARAM RETRANSMISSION FROM COMPONENT" << component << "FOR PARAM ID" << id;
}

/**
* Request a parameter, use parameter name to request it.
*/
void UAS::requestParameter(int component, const QString& parameter)
{
    // Request parameter, use parameter name to request it
    mavlink_message_t msg;
    mavlink_param_request_read_t read;
    read.param_index = -1;
    // Copy full param name or maximum max field size
    if (parameter.length() > MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN)
    {
        emit textMessageReceived(uasId, 0, 255, QString("QGC WARNING: Parameter name %1 is more than %2 bytes long. This might lead to errors and mishaps!").arg(parameter).arg(MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN-1));
    }
    memcpy(read.param_id, parameter.toStdString().c_str(), qMax(parameter.length(), MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN));
    read.param_id[15] = '\0'; // Enforce null termination
    read.target_system = uasId;
    read.target_component = component;
    mavlink_msg_param_request_read_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &read);
    sendMessage(msg);
    //qDebug() << __FILE__ << __LINE__ << "REQUESTING PARAM RETRANSMISSION FROM COMPONENT" << component << "FOR PARAM NAME" << parameter;
}

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

      // If the airframe is still generic, change it to a close default type
      if (airframe == 0)
      {
          switch (systemType)
          {
          case MAV_TYPE_FIXED_WING:
              airframe = QGC_AIRFRAME_EASYSTAR;
              break;
          case MAV_TYPE_QUADROTOR:
              airframe = QGC_AIRFRAME_MIKROKOPTER;
              break;
          }
      }
      emit systemSpecsChanged(uasId);
   }
}

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

void UAS::executeCommand(MAV_CMD command)
{
    mavlink_message_t msg;
    mavlink_command_long_t cmd;
    cmd.command = (uint16_t)command;
    cmd.confirmation = 0;
    cmd.param1 = 0.0f;
    cmd.param2 = 0.0f;
    cmd.param3 = 0.0f;
    cmd.param4 = 0.0f;
    cmd.param5 = 0.0f;
    cmd.param6 = 0.0f;
    cmd.param7 = 0.0f;
    cmd.target_system = uasId;
    cmd.target_component = 0;
    mavlink_msg_command_long_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &cmd);
    sendMessage(msg);
}
void UAS::executeCommandAck(int num, bool success)
{
    mavlink_message_t msg;
    mavlink_command_ack_t ack;
    ack.command = num;
    ack.result = (success ? 1 : 0);
    mavlink_msg_command_ack_encode(mavlink->getSystemId(),mavlink->getComponentId(),&msg,&ack);
    sendMessage(msg);
}

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

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

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

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

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

void UAS::goAutonomous()
{
    setMode((base_mode & ~(MAV_MODE_FLAG_MANUAL_INPUT_ENABLED)) | (MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED), 0);
}

void UAS::goManual()
{
    setMode((base_mode & ~(MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED))  | MAV_MODE_FLAG_MANUAL_INPUT_ENABLED, 0);
}

void UAS::toggleAutonomy()
{
    setMode(base_mode ^ MAV_MODE_FLAG_AUTO_ENABLED ^ MAV_MODE_FLAG_MANUAL_INPUT_ENABLED ^ MAV_MODE_FLAG_GUIDED_ENABLED ^ MAV_MODE_FLAG_STABILIZE_ENABLED, 0);
}

/**
* Set the manual control commands.
* This can only be done if the system has manual inputs enabled and is armed.
*/
void UAS::setManualControlCommands(double roll, double pitch, double yaw, double thrust, int xHat, int yHat, int buttons)
{
    Q_UNUSED(xHat);
    Q_UNUSED(yHat);

    // Scale values
    double rollPitchScaling = 1.0f * 1000.0f;
    double yawScaling = 1.0f * 1000.0f;
    double thrustScaling = 1.0f * 1000.0f;

    manualRollAngle = roll * rollPitchScaling;
    manualPitchAngle = pitch * rollPitchScaling;
    manualYawAngle = yaw * yawScaling;
    manualThrust = thrust * thrustScaling;

    // 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;
        mavlink_msg_manual_control_pack(mavlink->getSystemId(), mavlink->getComponentId(), &message, this->uasId, (float)manualPitchAngle, (float)manualRollAngle, (float)manualThrust, (float)manualYawAngle, buttons);
        sendMessage(message);
        //qDebug() << __FILE__ << __LINE__ << ": SENT MANUAL CONTROL MESSAGE: roll" << manualRollAngle << " pitch: " << manualPitchAngle << " yaw: " << manualYawAngle << " thrust: " << manualThrust;

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

void UAS::setManual6DOFControlCommands(double x, double y, double z, double roll, double pitch, double yaw)
{
    // If system has manual inputs enabled and is armed
    if(((base_mode & MAV_MODE_FLAG_DECODE_POSITION_MANUAL) && (base_mode & MAV_MODE_FLAG_DECODE_POSITION_SAFETY)) || (base_mode & MAV_MODE_FLAG_HIL_ENABLED))
    {
        mavlink_message_t message;
        mavlink_msg_setpoint_6dof_pack(mavlink->getSystemId(), mavlink->getComponentId(), &message, this->uasId, (float)x, (float)y, (float)z, (float)roll, (float)pitch, (float)yaw);
        sendMessage(message);
        qDebug() << __FILE__ << __LINE__ << ": SENT 6DOF CONTROL MESSAGE: 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";
    }
}

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

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

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

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

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

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

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

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

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

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

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