UAS.cc

    else if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_GUIDED)
    {
        mode += "guided";
    }
    else if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_STABILIZE)
    {
        mode += "stabilized";
    }
    else if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_MANUAL)
    {
        mode += "manual";
    }
    else
    {
        // Nothing else applies, we're in preflight
        mode += "preflight";
    }

    if (modeid != 0)
    {
        mode += " mode";
    }

    // ARMED STATE DECODING
    if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_SAFETY)
    {
        mode.append(" and armed");
    }

    // HARDWARE IN THE LOOP DECODING
    if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_HIL)
    {
        mode.append(" using hardware in the loop simulation");
    }

    return mode;
}

/**
* The mode returned can be auto, stabilized, test, manual, preflight or unknown.
* @return the short text of the mode for the id given.
*/
/**
* The mode returned can be auto, stabilized, test, manual, preflight or unknown.
* @return the short text of the mode for the id given.
*/
QString UAS::getShortModeTextFor(uint8_t base_mode, uint32_t custom_mode) const
{
    QString mode = AutoPilotPluginManager::instance()->getShortModeText(base_mode, custom_mode, autopilot);

    if (mode.length() == 0)
    {
        mode = "|UNKNOWN";
        qDebug() << __FILE__ << __LINE__ << " Unknown mode: base_mode=" << base_mode << " custom_mode=" << custom_mode << " autopilot=" << autopilot;
    }

    // ARMED STATE DECODING
    if (base_mode & MAV_MODE_FLAG_DECODE_POSITION_SAFETY)
    {
        mode.prepend("A");
    }
    else
    {
        mode.prepend("D");
    }

    // HARDWARE IN THE LOOP DECODING
    if (base_mode & MAV_MODE_FLAG_DECODE_POSITION_HIL)
    {
        mode.prepend("HIL:");
    }

    //qDebug() << "base_mode=" << base_mode << " custom_mode=" << custom_mode << " autopilot=" << autopilot << ": " << mode;

    return mode;
}

const QString& UAS::getShortMode() const
{
    return shortModeText;
}

/**
* Add the link and connect a signal to it which will be set off when it is destroyed.
*/
void UAS::addLink(LinkInterface* link)
{
    if (!_containsLink(link))
    {
        _links.append(LinkManager::instance()->sharedPointerForLink(link));
        qCDebug(UASLog) << "addLink:" << QString("%1").arg((ulong)link, 0, 16);
        connect(LinkManager::instance(), &LinkManager::linkDisconnected, this, &UAS::_linkDisconnected);
    }
}

void UAS::_linkDisconnected(LinkInterface* link)
{
    qCDebug(UASLog) << "_linkDisconnected:" << link->getName();
    qCDebug(UASLog) << "link count:" << _links.count();

    for (int i=0; i<_links.count(); i++) {
        if (_links[i].data() == link) {
            _links.removeAt(i);
            break;
        }
    }
    
    if (_links.count() == 0) {
        // Remove the UAS when all links to it close
        UASManager::instance()->removeUAS(this);
    }
}

/**
* @return the list of links
*/
QList<LinkInterface*> UAS::getLinks()
{
    QList<LinkInterface*> list;
    
    foreach (SharedLinkInterface sharedLink, _links) {
        list << sharedLink.data();
    }
    
    return list;
}

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

/**
* Set the battery specificaitons: empty voltage, warning voltage, and full voltage.
* @param specifications of the battery
*/
void UAS::setBatterySpecs(const QString& specs)
{
    batteryRemainingEstimateEnabled = false;
    bool ok;
    QString percent = specs;
    percent = percent.remove("%");
    float temp = percent.toFloat(&ok);
    if (ok)
    {
        warnLevelPercent = temp;
    }
    else
    {
        emit textMessageReceived(0, 0, MAV_SEVERITY_WARNING, "Could not set battery options, format is wrong");
    }
}

/**
* @return the battery specifications(empty voltage, warning voltage, full voltage)
*/
QString UAS::getBatterySpecs()
{
    return QString("%1%").arg(warnLevelPercent);
}

/**
* @return the time remaining.
*/
int UAS::calculateTimeRemaining()
{
    // XXX needs fixing
    return 0;
}

/**
 * @return charge level in percent - 0 - 100
 */
float UAS::getChargeLevel()
{
    return chargeLevel;
}

void UAS::startLowBattAlarm()
{
    if (!lowBattAlarm)
    {
        GAudioOutput::instance()->alert(tr("System %1 has low battery").arg(getUASID()));
        lowBattAlarm = true;
    }
}

void UAS::stopLowBattAlarm()
{
    if (lowBattAlarm)
    {
        lowBattAlarm = false;
    }
}

void UAS::sendMapRCToParam(QString param_id, float scale, float value0, quint8 param_rc_channel_index, float valueMin, float valueMax)
{
    mavlink_message_t message;

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

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

void UAS::unsetRCToParameterMap()
{
    char param_id_cstr[MAVLINK_MSG_PARAM_MAP_RC_FIELD_PARAM_ID_LEN] = {};

    for (int i = 0; i < 3; i++) {
        mavlink_message_t message;
        mavlink_msg_param_map_rc_pack(mavlink->getSystemId(),
                                      mavlink->getComponentId(),
                                      &message,
                                      this->uasId,
                                      0,
                                      param_id_cstr,
                                      -2,
                                      i,
                                      0.0f,
                                      0.0f,
                                      0.0f,
                                      0.0f);
        sendMessage(message);
    }
}

bool UAS::_containsLink(LinkInterface* link)
{
    foreach (SharedLinkInterface sharedLink, _links) {
        if (sharedLink.data() == link) {
            return true;
        }
    }

    return false;
}