UAS.cc

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

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

#include <QList>
#include <QMessageBox>
#include <QTimer>
#include <QSettings>
#include <iostream>
#include <QDebug>
#include <cmath>
#include "UAS.h"
#include "LinkInterface.h"
#include "UASManager.h"
//#include "MG.h"
#include "QGC.h"
#include "GAudioOutput.h"
#include "MAVLinkProtocol.h"
#include "QGCMAVLink.h"
#include "LinkManager.h"
#include "SerialLink.h"

#ifndef M_PI
#define M_PI        3.14159265358979323846  /* pi */
#endif

#ifndef M_PI_2
#define M_PI_2      1.57079632679489661923  /* pi/2 */
#endif

#ifndef M_PI_4
#define M_PI_4      0.78539816339744830962  /* pi/4 */
#endif



UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
uasId(id),
startTime(MG::TIME::getGroundTimeNow()),
commStatus(COMM_DISCONNECTED),
name(""),
autopilot(-1),
links(new QList<LinkInterface*>()),
unknownPackets(),
mavlink(protocol),
waypointManager(*this),
thrustSum(0),
thrustMax(10),
startVoltage(0),
currentVoltage(12.0f),
lpVoltage(12.0f),
mode(MAV_MODE_UNINIT),
status(MAV_STATE_UNINIT),
onboardTimeOffset(0),
controlRollManual(true),
controlPitchManual(true),
controlYawManual(true),
controlThrustManual(true),
manualRollAngle(0),
manualPitchAngle(0),
manualYawAngle(0),
manualThrust(0),
receiveDropRate(0),
sendDropRate(0),
lowBattAlarm(false),
positionLock(false),
localX(0.0),
localY(0.0),
localZ(0.0),
latitude(0.0),
longitude(0.0),
altitude(0.0),
roll(0.0),
pitch(0.0),
yaw(0.0),
statusTimeout(new QTimer(this)),
paramsOnceRequested(false),
airframe(0)
{
    color = UASInterface::getNextColor();
    setBattery(LIPOLY, 3);
    connect(statusTimeout, SIGNAL(timeout()), this, SLOT(updateState()));
    connect(this, SIGNAL(systemSpecsChanged(int)), this, SLOT(writeSettings()));
    statusTimeout->start(500);
    readSettings();
}

UAS::~UAS()
{
    writeSettings();
    delete links;
    links=NULL;
}

void UAS::writeSettings()
{
    QSettings settings;
    settings.beginGroup(QString("MAV%1").arg(uasId));
    settings.setValue("NAME", this->name);
    settings.setValue("AIRFRAME", this->airframe);
    settings.setValue("AP_TYPE", this->autopilot);
    settings.endGroup();
    settings.sync();
}

void UAS::readSettings()
{
    QSettings settings;
    settings.beginGroup(QString("MAV%1").arg(uasId));
    this->name = settings.value("NAME", this->name).toString();
    this->airframe = settings.value("AIRFRAME", this->airframe).toInt();
    this->autopilot = settings.value("AP_TYPE", this->autopilot).toInt();
    settings.endGroup();
}

int UAS::getUASID() const
{
    return uasId;
}

void UAS::updateState()
{
    // Check if heartbeat timed out
    quint64 heartbeatInterval = QGC::groundTimeUsecs() - lastHeartbeat;
    if (heartbeatInterval > timeoutIntervalHeartbeat)
    {
        emit heartbeatTimeout(heartbeatInterval);
        emit heartbeatTimeout();
    }

    // Position lock is set by the MAVLink message handler
    // if no position lock is available, indicate an error
    if (positionLock)
    {
        positionLock = false;
    }
    else
    {
        if (mode > (uint8_t)MAV_MODE_LOCKED && positionLock)
        {
            GAudioOutput::instance()->notifyNegative();
        }
    }
}

void UAS::setSelected()
{
    if (UASManager::instance()->getActiveUAS() != this)
    {
        UASManager::instance()->setActiveUAS(this);
        emit systemSelected(true);
    }
}

bool UAS::getSelected() const
{
    return (UASManager::instance()->getActiveUAS() == this);
}

void UAS::receiveMessageNamedValue(const mavlink_message_t& message)
{
    if (message.msgid == MAVLINK_MSG_ID_NAMED_VALUE_FLOAT)
    {
        mavlink_named_value_float_t val;
        mavlink_msg_named_value_float_decode(&message, &val);
        emit valueChanged(this->getUASID(), QString(val.name), tr("raw"), val.value, getUnixTime(0));
    }
    else if (message.msgid == MAVLINK_MSG_ID_NAMED_VALUE_INT)
    {
        mavlink_named_value_int_t val;
        mavlink_msg_named_value_int_decode(&message, &val);
        emit valueChanged(this->getUASID(), QString(val.name), tr("raw"), (float)val.value, getUnixTime(0));
    }
}

void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
{
    if (!link) return;
    if (!links->contains(link))
    {
        addLink(link);
        //        qDebug() << __FILE__ << __LINE__ << "ADDED LINK!" << link->getName();
    }
    //    else
    //    {
    //        qDebug() << __FILE__ << __LINE__ << "DID NOT ADD LINK" << link->getName() << "ALREADY IN LIST";
    //    }

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

    if (message.sysid == uasId)
    {
        QString uasState;
        QString stateDescription;
        QString patternPath;

        // Receive named value message
        receiveMessageNamedValue(message);

        switch (message.msgid)
        {
        case MAVLINK_MSG_ID_HEARTBEAT:
            lastHeartbeat = QGC::groundTimeUsecs();
            emit heartbeat(this);
            // Set new type if it has changed
            if (this->type != mavlink_msg_heartbeat_get_type(&message))
            {
                this->type = mavlink_msg_heartbeat_get_type(&message);
                if (airframe == 0)
                {
                    switch (type)
                    {
                    case MAV_FIXED_WING:
                        setAirframe(UASInterface::QGC_AIRFRAME_EASYSTAR);
                        break;
                    case MAV_QUADROTOR:
                        setAirframe(UASInterface::QGC_AIRFRAME_CHEETAH);
                        break;
                    default:
                        // Do nothing
                        break;
                    }
                }
                this->autopilot = mavlink_msg_heartbeat_get_autopilot(&message);
                emit systemTypeSet(this, type);
            }

            break;
        case MAVLINK_MSG_ID_BOOT:
            getStatusForCode((int)MAV_STATE_BOOT, uasState, stateDescription);
            emit statusChanged(this, uasState, stateDescription);
            onboardTimeOffset = 0; // Reset offset measurement
            break;
        case MAVLINK_MSG_ID_SYS_STATUS:
            {
                mavlink_sys_status_t state;
                mavlink_msg_sys_status_decode(&message, &state);

                // FIXME
                //qDebug() << "SYSTEM NAV MODE:" << state.nav_mode;

                QString audiostring = "System " + QString::number(this->getUASID());
                QString stateAudio = "";
                QString modeAudio = "";
                bool statechanged = false;
                bool modechanged = false;

                if (state.status != this->status)
                {
                    statechanged = true;
                    this->status = (int)state.status;
                    getStatusForCode((int)state.status, uasState, stateDescription);
                    emit statusChanged(this, uasState, stateDescription);
                    emit statusChanged(this->status);
                    emit loadChanged(this,state.load/10.0f);
                    emit valueChanged(uasId, "Load", "%", ((float)state.load)/1000.0f, MG::TIME::getGroundTimeNow());
                    stateAudio = " changed status to " + uasState;
                }

                if (this->mode != static_cast<unsigned int>(state.mode))
                {
                    modechanged = true;
                    this->mode = static_cast<unsigned int>(state.mode);
                    QString mode;

                    switch (state.mode)
                    {
                    case (uint8_t)MAV_MODE_LOCKED:
                        mode = "LOCKED MODE";
                        break;
                    case (uint8_t)MAV_MODE_MANUAL:
                        mode = "MANUAL MODE";
                        break;
                    case (uint8_t)MAV_MODE_AUTO:
                        mode = "AUTO MODE";
                        break;
                    case (uint8_t)MAV_MODE_GUIDED:
                        mode = "GUIDED MODE";
                        break;
                    case (uint8_t)MAV_MODE_READY:
                        mode = "READY";
                        break;
                    case (uint8_t)MAV_MODE_TEST1:
                        mode = "TEST1 MODE";
                        break;
                    case (uint8_t)MAV_MODE_TEST2:
                        mode = "TEST2 MODE";
                        break;
                    case (uint8_t)MAV_MODE_TEST3:
                        mode = "TEST3 MODE";
                        break;
                    case (uint8_t)MAV_MODE_RC_TRAINING:
                        mode = "RC TRAINING MODE";
                        break;
                    default:
                        mode = "UNINIT MODE";
                        break;
                    }

                    emit modeChanged(this->getUASID(), mode, "");
                    modeAudio = " is now in " + mode;
                }
                currentVoltage = state.vbat/1000.0f;
                lpVoltage = filterVoltage(currentVoltage);
                if (startVoltage == 0) startVoltage = currentVoltage;
                timeRemaining = calculateTimeRemaining();
                //qDebug() << "Voltage: " << currentVoltage << " Chargelevel: " << getChargeLevel() << " Time remaining " << timeRemaining;
                emit batteryChanged(this, lpVoltage, getChargeLevel(), timeRemaining);
                emit voltageChanged(message.sysid, state.vbat/1000.0f);

                // LOW BATTERY ALARM
                float chargeLevel = getChargeLevel();
                if (chargeLevel <= 20.0f)
                {
                    startLowBattAlarm();
                }
                else
                {
                    stopLowBattAlarm();
                }

                // COMMUNICATIONS DROP RATE
                emit dropRateChanged(this->getUASID(), state.packet_drop/1000.0f);
                //qDebug() << __FILE__ << __LINE__ << "RCV LOSS: " << state.packet_drop;

                // AUDIO
                if (modechanged && statechanged)
                {
                    // Output both messages
                    audiostring += modeAudio + " and " + stateAudio;
                }
                else
                {
                    // Output the one message
                    audiostring += modeAudio + stateAudio;
                }
                if ((int)state.status == (int)MAV_STATE_CRITICAL || state.status == (int)MAV_STATE_EMERGENCY)
                {
                    GAudioOutput::instance()->startEmergency();
                }
                else if (modechanged || statechanged)
                {
                    GAudioOutput::instance()->stopEmergency();
                    GAudioOutput::instance()->say(audiostring);
                }

                if (state.status == MAV_STATE_POWEROFF)
                {
                    emit systemRemoved(this);
                    emit systemRemoved();
                }
            }
            break;
        case MAVLINK_MSG_ID_RAW_IMU:
            {
                mavlink_raw_imu_t raw;
                mavlink_msg_raw_imu_decode(&message, &raw);
                quint64 time = getUnixTime(raw.usec);

                emit valueChanged(uasId, "accel x", "raw", static_cast<double>(raw.xacc), time);
                emit valueChanged(uasId, "accel y", "raw", static_cast<double>(raw.yacc), time);
                emit valueChanged(uasId, "accel z", "raw", static_cast<double>(raw.zacc), time);
                emit valueChanged(uasId, "gyro roll", "raw", static_cast<double>(raw.xgyro), time);
                emit valueChanged(uasId, "gyro pitch", "raw", static_cast<double>(raw.ygyro), time);
                emit valueChanged(uasId, "gyro yaw", "raw", static_cast<double>(raw.zgyro), time);
                emit valueChanged(uasId, "mag x", "raw", static_cast<double>(raw.xmag), time);
                emit valueChanged(uasId, "mag y", "raw", static_cast<double>(raw.ymag), time);
                emit valueChanged(uasId, "mag z", "raw", static_cast<double>(raw.zmag), time);
            }
            break;
        case MAVLINK_MSG_ID_ATTITUDE:
            //std::cerr << std::endl;
            //std::cerr << "Decoded attitude message:" << " roll: " << std::dec << mavlink_msg_attitude_get_roll(message.payload) << " pitch: " << mavlink_msg_attitude_get_pitch(message.payload) << " yaw: " << mavlink_msg_attitude_get_yaw(message.payload) << std::endl;
            {
                mavlink_attitude_t attitude;
                mavlink_msg_attitude_decode(&message, &attitude);
                quint64 time = getUnixTime(attitude.usec);
                roll = attitude.roll;
                pitch = attitude.pitch;
                yaw = attitude.yaw;

                roll = QGC::limitAngleToPMPI(roll);
                pitch = QGC::limitAngleToPMPI(pitch);
                yaw = QGC::limitAngleToPMPI(yaw);

//                emit valueChanged(uasId, "roll IMU", mavlink_msg_attitude_get_roll(&message), time);
//                emit valueChanged(uasId, "pitch IMU", mavlink_msg_attitude_get_pitch(&message), time);
//                emit valueChanged(uasId, "yaw IMU", mavlink_msg_attitude_get_yaw(&message), time);
                emit valueChanged(uasId, "roll", "rad", mavlink_msg_attitude_get_roll(&message), time);
                emit valueChanged(uasId, "pitch", "rad", mavlink_msg_attitude_get_pitch(&message), time);
                emit valueChanged(uasId, "yaw", "rad", mavlink_msg_attitude_get_yaw(&message), time);
                emit valueChanged(uasId, "rollspeed", "rad/s", attitude.rollspeed, time);
                emit valueChanged(uasId, "pitchspeed", "rad/s", attitude.pitchspeed, time);
                emit valueChanged(uasId, "yawspeed", "rad/s", attitude.yawspeed, time);

                // Emit in angles
                emit valueChanged(uasId, "roll", "deg", (attitude.roll/M_PI)*180.0, time);
                emit valueChanged(uasId, "pitch", "deg", (attitude.pitch/M_PI)*180.0, time);

                emit valueChanged(uasId, "rollspeed", "deg/s", (attitude.rollspeed/M_PI)*180.0, time);
                emit valueChanged(uasId, "pitchspeed", "deg/s", (attitude.pitchspeed/M_PI)*180.0, time);

                // Force yaw to 180 deg range
                double yaw = ((attitude.yaw/M_PI)*180.0);
                double sign = 1.0;
                if (yaw < 0)
                {
                    sign = -1.0;
                    yaw = -yaw;
                }
                while (yaw > 180.0)
                {
                    yaw -= 180.0;
                }

                yaw *= sign;

                emit valueChanged(uasId, "yaw", "deg", yaw, time);
                emit valueChanged(uasId, "yawspeed", "deg/s", (attitude.yawspeed/M_PI)*180.0, time);

                emit attitudeChanged(this, attitude.roll, attitude.pitch, attitude.yaw, time);
            }
            break;
        case MAVLINK_MSG_ID_LOCAL_POSITION:
            //std::cerr << std::endl;
            //std::cerr << "Decoded attitude message:" << " roll: " << std::dec << mavlink_msg_attitude_get_roll(message.payload) << " pitch: " << mavlink_msg_attitude_get_pitch(message.payload) << " yaw: " << mavlink_msg_attitude_get_yaw(message.payload) << std::endl;
            {
                mavlink_local_position_t pos;
                mavlink_msg_local_position_decode(&message, &pos);
                quint64 time = getUnixTime(pos.usec);
                localX = pos.x;
                localY = pos.y;
                localZ = pos.z;
                emit valueChanged(uasId, "x", "m", pos.x, time);
                emit valueChanged(uasId, "y", "m", pos.y, time);
                emit valueChanged(uasId, "z", "m", pos.z, time);
                emit valueChanged(uasId, "x speed", "m/s", pos.vx, time);
                emit valueChanged(uasId, "y speed", "m/s", pos.vy, time);
                emit valueChanged(uasId, "z speed", "m/s", pos.vz, time);
                emit localPositionChanged(this, pos.x, pos.y, pos.z, time);
                emit speedChanged(this, pos.vx, pos.vy, pos.vz, time);

                //                qDebug()<<"Local Position = "<<pos.x<<" - "<<pos.y<<" - "<<pos.z;
                //                qDebug()<<"Speed Local Position = "<<pos.vx<<" - "<<pos.vy<<" - "<<pos.vz;

                //emit attitudeChanged(this, pos.roll, pos.pitch, pos.yaw, time);
                // Set internal state
                if (!positionLock)
                {
                    // If position was not locked before, notify positive
                    GAudioOutput::instance()->notifyPositive();
                }
                positionLock = true;
            }
            break;
        case MAVLINK_MSG_ID_GLOBAL_POSITION_INT:
            //std::cerr << std::endl;
            //std::cerr << "Decoded attitude message:" << " roll: " << std::dec << mavlink_msg_attitude_get_roll(message.payload) << " pitch: " << mavlink_msg_attitude_get_pitch(message.payload) << " yaw: " << mavlink_msg_attitude_get_yaw(message.payload) << std::endl;
            {
                mavlink_global_position_int_t pos;
                mavlink_msg_global_position_int_decode(&message, &pos);
                quint64 time = QGC::groundTimeUsecs()/1000;
                latitude = pos.lat/(double)1E7;
                longitude = pos.lon/(double)1E7;
                altitude = pos.alt/1000.0;
                speedX = pos.vx/100.0;
                speedY = pos.vy/100.0;
                speedZ = pos.vz/100.0;
                emit valueChanged(uasId, "latitude", "deg", latitude, time);
                emit valueChanged(uasId, "longitude", "deg", longitude, time);
                emit valueChanged(uasId, "altitude", "m", altitude, time);
                emit valueChanged(uasId, "gps x speed", "m/s", speedX, time);
                emit valueChanged(uasId, "gps y speed", "m/s", speedY, time);
                emit valueChanged(uasId, "gps z speed", "m/s", speedZ, time);
                emit globalPositionChanged(this, longitude, latitude, altitude, time);
                emit speedChanged(this, speedX, speedY, speedZ, time);
                // Set internal state
                if (!positionLock)
                {
                    // If position was not locked before, notify positive
                    GAudioOutput::instance()->notifyPositive();
                }
                positionLock = true;
                //TODO fix this hack for forwarding of global position for patch antenna tracking
                forwardMessage(message);
            }
            break;
        case MAVLINK_MSG_ID_GPS_RAW:
            //std::cerr << std::endl;
            //std::cerr << "Decoded attitude message:" << " roll: " << std::dec << mavlink_msg_attitude_get_roll(message.payload) << " pitch: " << mavlink_msg_attitude_get_pitch(message.payload) << " yaw: " << mavlink_msg_attitude_get_yaw(message.payload) << std::endl;
            {
                mavlink_gps_raw_t pos;
                mavlink_msg_gps_raw_decode(&message, &pos);

                // SANITY CHECK
                // only accept values in a realistic range
                // quint64 time = getUnixTime(pos.usec);
                quint64 time = MG::TIME::getGroundTimeNow();

                emit valueChanged(uasId, "latitude", "deg", pos.lat, time);
                emit valueChanged(uasId, "longitude", "deg", pos.lon, time);

                // FIXME REMOVE
                longitude = pos.lon;
                latitude = pos.lat;
                altitude = pos.alt;
                emit globalPositionChanged(this, longitude, latitude, altitude, time);

                if (pos.fix_type > 0)
                {
                    emit globalPositionChanged(this, pos.lon, pos.lat, pos.alt, time);

                    // Check for NaN
                    int alt = pos.alt;
                    if (alt != alt)
                    {
                        alt = 0;
                        emit textMessageReceived(uasId, message.compid, 255, "GCS ERROR: RECEIVED NaN FOR ALTITUDE");
                    }
                    emit valueChanged(uasId, "altitude", "m", pos.alt, time);
                    // Smaller than threshold and not NaN
                    if (pos.v < 1000000 && pos.v == pos.v)
                    {
                        emit valueChanged(uasId, "speed", "m/s", pos.v, time);
                        //qDebug() << "GOT GPS RAW";
                       // emit speedChanged(this, (double)pos.v, 0.0, 0.0, time);
                    }
                    else
                    {
                        emit textMessageReceived(uasId, message.compid, 255, QString("GCS ERROR: RECEIVED INVALID SPEED OF %1 m/s").arg(pos.v));
                    }
                }
            }
            break;
        case MAVLINK_MSG_ID_GPS_STATUS:
            {
                mavlink_gps_status_t pos;
                mavlink_msg_gps_status_decode(&message, &pos);
                for(int i = 0; i < (int)pos.satellites_visible; i++)
                {
                    emit gpsSatelliteStatusChanged(uasId, (unsigned char)pos.satellite_prn[i], (unsigned char)pos.satellite_elevation[i], (unsigned char)pos.satellite_azimuth[i], (unsigned char)pos.satellite_snr[i], static_cast<bool>(pos.satellite_used[i]));
                }
            }
            break;
        case MAVLINK_MSG_ID_GPS_LOCAL_ORIGIN_SET:
            {
                mavlink_gps_local_origin_set_t pos;
                mavlink_msg_gps_local_origin_set_decode(&message, &pos);
                // FIXME Emit to other components
            }
            break;
            case MAVLINK_MSG_ID_RAW_PRESSURE:
            {
                mavlink_raw_pressure_t pressure;
                mavlink_msg_raw_pressure_decode(&message, &pressure);
                quint64 time = this->getUnixTime(0);
                emit valueChanged(uasId, "abs pressure", "hP", pressure.press_abs, time);
                emit valueChanged(uasId, "diff pressure 1", "hP", pressure.press_diff1, time);
                emit valueChanged(uasId, "diff pressure 2", "hP", pressure.press_diff2, time);
            }
            break;
        case MAVLINK_MSG_ID_RC_CHANNELS_RAW:
            {
                mavlink_rc_channels_raw_t channels;
                mavlink_msg_rc_channels_raw_decode(&message, &channels);
                emit remoteControlRSSIChanged(channels.rssi/255.0f);
                emit remoteControlChannelRawChanged(0, channels.chan1_raw);
                emit remoteControlChannelRawChanged(1, channels.chan2_raw);
                emit remoteControlChannelRawChanged(2, channels.chan3_raw);
                emit remoteControlChannelRawChanged(3, channels.chan4_raw);
                emit remoteControlChannelRawChanged(4, channels.chan5_raw);
                emit remoteControlChannelRawChanged(5, channels.chan6_raw);
                emit remoteControlChannelRawChanged(6, channels.chan7_raw);
                emit remoteControlChannelRawChanged(7, channels.chan8_raw);
            }
            break;
        case MAVLINK_MSG_ID_RC_CHANNELS_SCALED:
            {
                mavlink_rc_channels_scaled_t channels;
                mavlink_msg_rc_channels_scaled_decode(&message, &channels);
                emit remoteControlRSSIChanged(channels.rssi/255.0f);
                emit remoteControlChannelScaledChanged(0, channels.chan1_scaled/10000.0f);
                emit remoteControlChannelScaledChanged(1, channels.chan2_scaled/10000.0f);
                emit remoteControlChannelScaledChanged(2, channels.chan3_scaled/10000.0f);
                emit remoteControlChannelScaledChanged(3, channels.chan4_scaled/10000.0f);
                emit remoteControlChannelScaledChanged(4, channels.chan5_scaled/10000.0f);
                emit remoteControlChannelScaledChanged(5, channels.chan6_scaled/10000.0f);
                emit remoteControlChannelScaledChanged(6, channels.chan7_scaled/10000.0f);
                emit remoteControlChannelScaledChanged(7, channels.chan8_scaled/10000.0f);
            }
            break;
        case MAVLINK_MSG_ID_PARAM_VALUE:
            {
                mavlink_param_value_t value;
                mavlink_msg_param_value_decode(&message, &value);

                QString parameterName = QString((char*)value.param_id);
                int component = message.compid;
                float val = value.param_value;

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

                // Insert parameter into registry
                if (parameters.value(component)->contains(parameterName)) parameters.value(component)->remove(parameterName);
                parameters.value(component)->insert(parameterName, val);

                // Emit change
                emit parameterChanged(uasId, message.compid, parameterName, val);
            }
            break;
        case MAVLINK_MSG_ID_DEBUG:
            emit valueChanged(uasId, QString("debug ") + QString::number(mavlink_msg_debug_get_ind(&message)), "raw", mavlink_msg_debug_get_value(&message), MG::TIME::getGroundTimeNow());
            break;
        case MAVLINK_MSG_ID_ATTITUDE_CONTROLLER_OUTPUT:
            {
                mavlink_attitude_controller_output_t out;
                mavlink_msg_attitude_controller_output_decode(&message, &out);
                quint64 time = MG::TIME::getGroundTimeNowUsecs();
                emit attitudeThrustSetPointChanged(this, out.roll/127.0f, out.pitch/127.0f, out.yaw/127.0f, (uint8_t)out.thrust, time);
                emit valueChanged(uasId, "att control roll", "raw", out.roll, time/1000.0f);
                emit valueChanged(uasId, "att control pitch", "raw", out.pitch, time/1000.0f);
                emit valueChanged(uasId, "att control yaw", "raw", out.yaw, time/1000.0f);
            }
            break;
        case MAVLINK_MSG_ID_POSITION_CONTROLLER_OUTPUT:
            {
                mavlink_position_controller_output_t out;
                mavlink_msg_position_controller_output_decode(&message, &out);
                quint64 time = MG::TIME::getGroundTimeNow();
                //emit positionSetPointsChanged(uasId, out.x/127.0f, out.y/127.0f, out.z/127.0f, out.yaw, time);
                emit valueChanged(uasId, "pos control x", "raw", out.x, time);
                emit valueChanged(uasId, "pos control y", "raw", out.y, time);
                emit valueChanged(uasId, "pos control z", "raw", out.z, time);
            }
            break;
        case MAVLINK_MSG_ID_WAYPOINT_COUNT:
            {
                mavlink_waypoint_count_t wpc;
                mavlink_msg_waypoint_count_decode(&message, &wpc);
                if (wpc.target_system == mavlink->getSystemId() && wpc.target_component == mavlink->getComponentId())
                {
                    waypointManager.handleWaypointCount(message.sysid, message.compid, wpc.count);
                }
            }
            break;

        case MAVLINK_MSG_ID_WAYPOINT:
            {
                mavlink_waypoint_t wp;
                mavlink_msg_waypoint_decode(&message, &wp);
                //qDebug() << "got waypoint (" << wp.seq << ") from ID " << message.sysid << " x=" << wp.x << " y=" << wp.y << " z=" << wp.z;
                if(wp.target_system == mavlink->getSystemId() && wp.target_component == mavlink->getComponentId())
                {
                    waypointManager.handleWaypoint(message.sysid, message.compid, &wp);
                }
            }
            break;

        case MAVLINK_MSG_ID_WAYPOINT_ACK:
            {
                mavlink_waypoint_ack_t wpa;
                mavlink_msg_waypoint_ack_decode(&message, &wpa);
                if(wpa.target_system == mavlink->getSystemId() && wpa.target_component == mavlink->getComponentId())
                {
                    waypointManager.handleWaypointAck(message.sysid, message.compid, &wpa);
                }
            }
            break;

        case MAVLINK_MSG_ID_WAYPOINT_REQUEST:
            {
                mavlink_waypoint_request_t wpr;
                mavlink_msg_waypoint_request_decode(&message, &wpr);
                if(wpr.target_system == mavlink->getSystemId() && wpr.target_component == mavlink->getComponentId())
                {
                    waypointManager.handleWaypointRequest(message.sysid, message.compid, &wpr);
                }
            }
            break;

        case MAVLINK_MSG_ID_WAYPOINT_REACHED:
            {
                mavlink_waypoint_reached_t wpr;
                mavlink_msg_waypoint_reached_decode(&message, &wpr);
                waypointManager.handleWaypointReached(message.sysid, message.compid, &wpr);
            }
            break;

        case MAVLINK_MSG_ID_WAYPOINT_CURRENT:
            {
                mavlink_waypoint_current_t wpc;
                mavlink_msg_waypoint_current_decode(&message, &wpc);
                waypointManager.handleWaypointCurrent(message.sysid, message.compid, &wpc);
            }
            break;

        case MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT:
            {
                mavlink_local_position_setpoint_t p;
                mavlink_msg_local_position_setpoint_decode(&message, &p);
                emit positionSetPointsChanged(uasId, p.x, p.y, p.z, p.yaw, QGC::groundTimeUsecs());
            }
            break;

        case MAVLINK_MSG_ID_STATUSTEXT:
            {
                QByteArray b;
                b.resize(256);
                mavlink_msg_statustext_get_text(&message, (int8_t*)b.data());
                //b.append('\0');
                QString text = QString(b);
                int severity = mavlink_msg_statustext_get_severity(&message);
                //qDebug() << "RECEIVED STATUS:" << text;false
                //emit statusTextReceived(severity, text);
                emit textMessageReceived(uasId, message.compid, severity, text);
            }
            break;
    case MAVLINK_MSG_ID_DEBUG_VECT:
            {
                mavlink_debug_vect_t vect;
                mavlink_msg_debug_vect_decode(&message, &vect);
                QString str((const char*)vect.name);
                quint64 time = getUnixTime(vect.usec);
                emit valueChanged(uasId, str+".x", "raw", vect.x, time);
                emit valueChanged(uasId, str+".y", "raw", vect.y, time);
                emit valueChanged(uasId, str+".z", "raw", vect.z, time);
            }
            break;
            //#ifdef MAVLINK_ENABLED_PIXHAWK
            //            case MAVLINK_MSG_ID_POINT_OF_INTEREST:
            //            {
            //                mavlink_point_of_interest_t poi;
            //                mavlink_msg_point_of_interest_decode(&message, &poi);
            //                emit poiFound(this, poi.type, poi.color, QString((QChar*)poi.name, MAVLINK_MSG_POINT_OF_INTEREST_FIELD_NAME_LEN), poi.x, poi.y, poi.z);
            //            }
            //            break;
            //            case MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION:
            //            {
            //                mavlink_point_of_interest_connection_t poi;
            //                mavlink_msg_point_of_interest_connection_decode(&message, &poi);
            //                emit poiConnectionFound(this, poi.type, poi.color, QString((QChar*)poi.name, MAVLINK_MSG_POINT_OF_INTEREST_CONNECTION_FIELD_NAME_LEN), poi.x1, poi.y1, poi.z1, poi.x2, poi.y2, poi.z2);
            //            }
            //            break;
            //#endif
#ifdef MAVLINK_ENABLED_UALBERTA
        case MAVLINK_MSG_ID_NAV_FILTER_BIAS:
            {
                mavlink_nav_filter_bias_t bias;
                mavlink_msg_nav_filter_bias_decode(&message, &bias);
                quint64 time = MG::TIME::getGroundTimeNow();
                emit valueChanged(uasId, "b_f[0]", "raw", bias.accel_0, time);
                emit valueChanged(uasId, "b_f[1]", "raw", bias.accel_1, time);
                emit valueChanged(uasId, "b_f[2]", "raw", bias.accel_2, time);
                emit valueChanged(uasId, "b_w[0]", "raw", bias.gyro_0, time);
                emit valueChanged(uasId, "b_w[1]", "raw", bias.gyro_1, time);
                emit valueChanged(uasId, "b_w[2]", "raw", bias.gyro_2, time);
            }
            break;
       case MAVLINK_MSG_ID_RADIO_CALIBRATION:
            {
                mavlink_radio_calibration_t radioMsg;
                mavlink_msg_radio_calibration_decode(&message, &radioMsg);
                QVector<float> aileron;
                QVector<float> elevator;
                QVector<float> rudder;
                QVector<float> gyro;
                QVector<float> pitch;
                QVector<float> throttle;

                for (int i=0; i<MAVLINK_MSG_RADIO_CALIBRATION_FIELD_AILERON_LEN; ++i)
                    aileron << radioMsg.aileron[i];
                for (int i=0; i<MAVLINK_MSG_RADIO_CALIBRATION_FIELD_ELEVATOR_LEN; ++i)
                    elevator << radioMsg.elevator[i];
                for (int i=0; i<MAVLINK_MSG_RADIO_CALIBRATION_FIELD_RUDDER_LEN; ++i)
                    rudder << radioMsg.rudder[i];
                for (int i=0; i<MAVLINK_MSG_RADIO_CALIBRATION_FIELD_GYRO_LEN; ++i)
                    gyro << radioMsg.gyro[i];
                for (int i=0; i<MAVLINK_MSG_RADIO_CALIBRATION_FIELD_PITCH_LEN; ++i)
                    pitch << radioMsg.pitch[i];
                for (int i=0; i<MAVLINK_MSG_RADIO_CALIBRATION_FIELD_THROTTLE_LEN; ++i)
                    throttle << radioMsg.throttle[i];

                QPointer<RadioCalibrationData> radioData = new RadioCalibrationData(aileron, elevator, rudder, gyro, pitch, throttle);
                emit radioCalibrationReceived(radioData);
                delete radioData;
            }
            break;

#endif
        default:
            {
                if (!unknownPackets.contains(message.msgid))
                {
                    unknownPackets.append(message.msgid);
                    //GAudioOutput::instance()->say("UNABLE TO DECODE MESSAGE WITH ID " + QString::number(message.msgid) + " FROM SYSTEM " + QString::number(message.sysid));
                    std::cout << "Unable to decode message from system " << std::dec << static_cast<int>(message.sysid) << " with message id:" << static_cast<int>(message.msgid) << std::endl;
                    //qDebug() << std::cerr << "Unable to decode message from system " << std::dec << static_cast<int>(message.acid) << " with message id:" << static_cast<int>(message.msgid) << std::endl;
                }
            }
            break;
        }
    }
}

void UAS::setLocalOriginAtCurrentGPSPosition()
{

    bool result = false;
    QMessageBox msgBox;
    msgBox.setIcon(QMessageBox::Warning);
    msgBox.setText("Setting new World Coordinate Frame Origin");
    msgBox.setInformativeText("Do you want to set a new origin? Waypoints defined in the local frame will be shifted in their physical location");
    msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::Cancel);
    msgBox.setDefaultButton(QMessageBox::Cancel);
    int ret = msgBox.exec();

    // Close the message box shortly after the click to prevent accidental clicks
    QTimer::singleShot(5000, &msgBox, SLOT(reject()));


    if (ret == QMessageBox::Yes)
    {
        mavlink_message_t msg;
        mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getSystemId(), &msg, this->getUASID(), 0, MAV_ACTION_SET_ORIGIN);
        // Send message twice to increase chance that it reaches its goal
        sendMessage(msg);
        // Wait 5 ms
        MG::SLEEP::usleep(5000);
        // Send again
        sendMessage(msg);
        result = true;
    }
}

void UAS::setLocalPositionSetpoint(float x, float y, float z, float yaw)
{
#ifdef MAVLINK_ENABLED_PIXHAWK
    mavlink_message_t msg;
    mavlink_msg_position_control_setpoint_set_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, 0, x, y, z, yaw);
    sendMessage(msg);
#else
    Q_UNUSED(x);
    Q_UNUSED(y);
    Q_UNUSED(z);
    Q_UNUSED(yaw);
#endif
}

void UAS::setLocalPositionOffset(float x, float y, float z, float yaw)
{
#ifdef MAVLINK_ENABLED_PIXHAWK
    mavlink_message_t msg;
    mavlink_msg_position_control_offset_set_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, x, y, z, yaw);
    sendMessage(msg);
#else
    Q_UNUSED(x);
    Q_UNUSED(y);
    Q_UNUSED(z);
    Q_UNUSED(yaw);
#endif
}

void UAS::startRadioControlCalibration()
{
    mavlink_message_t msg;
    mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_ACTION_CALIBRATE_RC);
    sendMessage(msg);
}

void UAS::startDataRecording()
{
    mavlink_message_t msg;
    mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_ACTION_REC_START);
    sendMessage(msg);
}

void UAS::pauseDataRecording()
{
    mavlink_message_t msg;
    mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_ACTION_REC_PAUSE);
    sendMessage(msg);
}

void UAS::stopDataRecording()
{
    mavlink_message_t msg;
    mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_ACTION_REC_STOP);
    sendMessage(msg);
}

void UAS::startMagnetometerCalibration()
{
    mavlink_message_t msg;
    mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_ACTION_CALIBRATE_MAG);
    sendMessage(msg);
}

void UAS::startGyroscopeCalibration()
{
    mavlink_message_t msg;
    mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_ACTION_CALIBRATE_GYRO);
    sendMessage(msg);
}

void UAS::startPressureCalibration()
{
    mavlink_message_t msg;
    mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_ACTION_CALIBRATE_PRESSURE);
    sendMessage(msg);
}

quint64 UAS::getUnixTime(quint64 time)
{
    if (time == 0)
    {
        return MG::TIME::getGroundTimeNow();
    }
    // 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
        {
        if (onboardTimeOffset == 0)
        {
            onboardTimeOffset = MG::TIME::getGroundTimeNow() - time/1000;
        }
        return time/1000 + onboardTimeOffset;
    }
    else
    {
        // Time is not zero and larger than 40 years -> has to be
        // a Unix epoch timestamp. Do nothing.
        return time/1000;
    }
}

QList<QString> UAS::getParameterNames(int component)
{
    if (parameters.contains(component))
    {
        return parameters.value(component)->keys();
    }
    else
    {
        return QList<QString>();
    }
}

QList<int> UAS::getComponentIds()
{
    return parameters.keys();
}

void UAS::setMode(int mode)
{
    if ((uint8_t)mode >= MAV_MODE_LOCKED && (uint8_t)mode <= MAV_MODE_RC_TRAINING)
    {
        this->mode = mode;
        mavlink_message_t msg;
        mavlink_msg_set_mode_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, (uint8_t)uasId, (uint8_t)mode);
        sendMessage(msg);
        qDebug() << "SENDING REQUEST TO SET MODE TO SYSTEM" << uasId << ", REQUEST TO SET MODE " << (uint8_t)mode;
    }
}

void UAS::sendMessage(mavlink_message_t message)
{
    // Emit message on all links that are currently connected
    QList<LinkInterface*>::iterator i;
    for (i = links->begin(); i != links->end(); ++i)
    {
        sendMessage(*i, message);