Removing unused code

QGCApplication.pro

@@ -201,11 +201,8 @@ FORMS += \
     src/ui/uas/UASMessageView.ui \
     src/ui/uas/UASQuickView.ui \
     src/ui/uas/UASQuickViewItemSelect.ui \
-    src/ui/UASControl.ui \
     src/ui/UASInfo.ui \
-    src/ui/UASList.ui \
     src/ui/UASRawStatusView.ui \
-    src/ui/UASView.ui \
     src/ui/WaypointEditableView.ui \
     src/ui/WaypointList.ui \
     src/ui/WaypointViewOnlyView.ui \
@@ -322,16 +319,13 @@ HEADERS += \
     src/ui/SettingsDialog.h \
     src/ui/toolbar/MainToolBar.h \
     src/ui/uas/QGCUnconnectedInfoWidget.h \
-    src/ui/uas/UASControlWidget.h \
     src/ui/uas/UASInfoWidget.h \
-    src/ui/uas/UASListWidget.h \
     src/ui/uas/UASMessageView.h \
     src/ui/uas/UASQuickView.h \
     src/ui/uas/UASQuickViewGaugeItem.h \
     src/ui/uas/UASQuickViewItem.h \
     src/ui/uas/UASQuickViewItemSelect.h \
     src/ui/uas/UASQuickViewTextItem.h \
-    src/ui/uas/UASView.h \
     src/ui/UASRawStatusView.h \
     src/ui/WaypointEditableView.h \
     src/ui/WaypointList.h \
@@ -452,16 +446,13 @@ SOURCES += \
     src/ui/SettingsDialog.cc \
     src/ui/toolbar/MainToolBar.cc \
     src/ui/uas/QGCUnconnectedInfoWidget.cc \
-    src/ui/uas/UASControlWidget.cc \
     src/ui/uas/UASInfoWidget.cc \
-    src/ui/uas/UASListWidget.cc \
     src/ui/uas/UASMessageView.cc \
     src/ui/uas/UASQuickView.cc \
     src/ui/uas/UASQuickViewGaugeItem.cc \
     src/ui/uas/UASQuickViewItem.cc \
     src/ui/uas/UASQuickViewItemSelect.cc \
     src/ui/uas/UASQuickViewTextItem.cc \
-    src/ui/uas/UASView.cc \
     src/ui/UASRawStatusView.cpp \
     src/ui/WaypointEditableView.cc \
     src/ui/WaypointList.cc \

src/uas/UAS.h

@@ -72,10 +72,6 @@ public:
 
     /** @brief The name of the robot */
     QString getUASName(void) const;
-    /** @brief Get short state */
-    const QString& getShortState() const;
-    /** @brief Get short mode */
-    const QString& getShortMode() const;
     /** @brief Get the unique system id */
     int getUASID() const;
     /** @brief Get the airframe */
@@ -319,17 +315,6 @@ public:
         return yaw;
     }
 
-    QVector3D getNedPosGlobalOffset() const
-    {
-        return nedPosGlobalOffset;
-    }
-
-    QVector3D getNedAttGlobalOffset() const
-    {
-        return nedAttGlobalOffset;
-    }
-
-
     // Setters for HIL noise variance
     void setXaccVar(float var){
         xacc_var = var;
@@ -406,20 +391,9 @@ protected: //COMMENTS FOR TEST UNIT
     unsigned char type;           ///< UAS type (from type enum)
     int airframe;                 ///< The airframe type
     int autopilot;                ///< Type of the Autopilot: -1: None, 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
-    bool systemIsArmed;           ///< If the system is armed
     uint8_t base_mode;                 ///< The current mode of the MAV
     uint32_t custom_mode;         ///< The current mode of the MAV
     int status;                   ///< The current status of the MAV
-    QString shortModeText;        ///< Short textual mode description
-    QString shortStateText;       ///< Short textual state description
-
-    /// OUTPUT
-    QList<double> actuatorValues;
-    QList<QString> actuatorNames;
-    QList<double> motorValues;
-    QList<QString> motorNames;
-    double thrustSum;           ///< Sum of forward/up thrust of all thrust actuators, in Newtons
-    double thrustMax;           ///< Maximum forward/up thrust of this vehicle, in Newtons
 
     // dongfang: This looks like a candidate for being moved off to a separate class.
     /// BATTERY / ENERGY
@@ -433,7 +407,6 @@ protected: //COMMENTS FOR TEST UNIT
     double currentCurrent;      ///< Battery current currently measured
     bool batteryRemainingEstimateEnabled; ///< If the estimate is enabled, QGC will try to estimate the remaining battery life
     float chargeLevel;          ///< Charge level of battery, in percent
-    int timeRemaining;          ///< Remaining time calculated based on previous and current
     bool lowBattAlarm;          ///< Switch if battery is low
 
 
@@ -477,9 +450,6 @@ protected: //COMMENTS FOR TEST UNIT
     double speedY;              ///< True speed in Y axis
     double speedZ;              ///< True speed in Z axis
 
-    QVector3D nedPosGlobalOffset;   ///< Offset between the system's NED position measurements and the swarm / global 0/0/0 origin
-    QVector3D nedAttGlobalOffset;   ///< Offset between the system's NED position measurements and the swarm / global 0/0/0 origin
-
     /// WAYPOINT NAVIGATION
     double distToWaypoint;       ///< Distance to next waypoint
     double airSpeed;             ///< Airspeed
@@ -534,20 +504,10 @@ protected: //COMMENTS FOR TEST UNIT
 public:
     /** @brief Set the current battery type */
     void setBattery(BatteryType type, int cells);
-    /** @brief Estimate how much flight time is remaining */
-    int calculateTimeRemaining();
     /** @brief Get the current charge level */
     float getChargeLevel();
     /** @brief Get the human-readable status message for this code */
     void getStatusForCode(int statusCode, QString& uasState, QString& stateDescription);
-    /** @brief Check if vehicle is in autonomous mode */
-    bool isAuto();
-    /** @brief Check if vehicle is armed */
-    bool isArmed() const { return systemIsArmed; }
-    /** @brief Check if vehicle is supposed to be in HIL mode by the GS */
-    bool isHilEnabled() const { return hilEnabled; }
-    /** @brief Check if vehicle is in HIL mode */
-    bool isHilActive() const { return base_mode & MAV_MODE_FLAG_HIL_ENABLED; }
 
     /** @brief Get reference to the waypoint manager **/
     UASWaypointManager* getWaypointManager() {
@@ -568,155 +528,11 @@ public:
     int  getSystemType();
     bool isAirplane();
 
-    /**
-     * @brief Returns true for systems that can reverse. If the system has no control over position, it returns false as
-     * @return If the specified vehicle type can
-     */
-    bool systemCanReverse() const
-    {
-        switch(type)
-        {
-        case MAV_TYPE_GENERIC:
-        case MAV_TYPE_FIXED_WING:
-        case MAV_TYPE_ROCKET:
-        case MAV_TYPE_FLAPPING_WING:
-
-        // System types that don't have movement
-        case MAV_TYPE_ANTENNA_TRACKER:
-        case MAV_TYPE_GCS:
-        case MAV_TYPE_FREE_BALLOON:
-        default:
-            return false;
-        case MAV_TYPE_QUADROTOR:
-        case MAV_TYPE_COAXIAL:
-        case MAV_TYPE_HELICOPTER:
-        case MAV_TYPE_AIRSHIP:
-        case MAV_TYPE_GROUND_ROVER:
-        case MAV_TYPE_SURFACE_BOAT:
-        case MAV_TYPE_SUBMARINE:
-        case MAV_TYPE_HEXAROTOR:
-        case MAV_TYPE_OCTOROTOR:
-        case MAV_TYPE_TRICOPTER:
-            return true;
-        }
-    }
-
-    QString getSystemTypeName()
-    {
-        switch(type)
-        {
-        case MAV_TYPE_GENERIC:
-            return "GENERIC";
-            break;
-        case MAV_TYPE_FIXED_WING:
-            return "FIXED_WING";
-            break;
-        case MAV_TYPE_QUADROTOR:
-            return "QUADROTOR";
-            break;
-        case MAV_TYPE_COAXIAL:
-            return "COAXIAL";
-            break;
-        case MAV_TYPE_HELICOPTER:
-            return "HELICOPTER";
-            break;
-        case MAV_TYPE_ANTENNA_TRACKER:
-            return "ANTENNA_TRACKER";
-            break;
-        case MAV_TYPE_GCS:
-            return "GCS";
-            break;
-        case MAV_TYPE_AIRSHIP:
-            return "AIRSHIP";
-            break;
-        case MAV_TYPE_FREE_BALLOON:
-            return "FREE_BALLOON";
-            break;
-        case MAV_TYPE_ROCKET:
-            return "ROCKET";
-            break;
-        case MAV_TYPE_GROUND_ROVER:
-            return "GROUND_ROVER";
-            break;
-        case MAV_TYPE_SURFACE_BOAT:
-            return "BOAT";
-            break;
-        case MAV_TYPE_SUBMARINE:
-            return "SUBMARINE";
-            break;
-        case MAV_TYPE_HEXAROTOR:
-            return "HEXAROTOR";
-            break;
-        case MAV_TYPE_OCTOROTOR:
-            return "OCTOROTOR";
-            break;
-        case MAV_TYPE_TRICOPTER:
-            return "TRICOPTER";
-            break;
-        case MAV_TYPE_FLAPPING_WING:
-            return "FLAPPING_WING";
-            break;
-        default:
-            return "";
-            break;
-        }
-    }
-
     QImage getImage();
     void requestImage();
     int getAutopilotType(){
         return autopilot;
     }
-    QString getAutopilotTypeName()
-    {
-        switch (autopilot)
-        {
-        case MAV_AUTOPILOT_GENERIC:
-            return "GENERIC";
-            break;
-        case MAV_AUTOPILOT_SLUGS:
-            return "SLUGS";
-            break;
-        case MAV_AUTOPILOT_ARDUPILOTMEGA:
-            return "ARDUPILOTMEGA";
-            break;
-        case MAV_AUTOPILOT_OPENPILOT:
-            return "OPENPILOT";
-            break;
-        case MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLY:
-            return "GENERIC_WAYPOINTS_ONLY";
-            break;
-        case MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLY:
-            return "GENERIC_MISSION_NAVIGATION_ONLY";
-            break;
-        case MAV_AUTOPILOT_GENERIC_MISSION_FULL:
-            return "GENERIC_MISSION_FULL";
-            break;
-        case MAV_AUTOPILOT_INVALID:
-            return "NO AP";
-            break;
-        case MAV_AUTOPILOT_PPZ:
-            return "PPZ";
-            break;
-        case MAV_AUTOPILOT_UDB:
-            return "UDB";
-            break;
-        case MAV_AUTOPILOT_FP:
-            return "FP";
-            break;
-        case MAV_AUTOPILOT_PX4:
-            return "PX4";
-            break;
-        default:
-            return "UNKNOWN";
-            break;
-        }
-    }
-    /** From UASInterface */
-    QList<QAction*> getActions() const
-    {
-        return actions;
-    }
 
 public slots:
     /** @brief Set the autopilot type */
@@ -737,35 +553,12 @@ public slots:
         }
 
     }
-    /** @brief Set a new name **/
-    void setUASName(const QString& name);
-    /** @brief Executes a command **/
-    void executeCommand(MAV_CMD command);
     /** @brief Executes a command with 7 params */
     void executeCommand(MAV_CMD command, int confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7, int component);
-    /** @brief Executes a command ack, with success boolean **/
-    void executeCommandAck(int num, bool success);
-    /** @brief Set the current battery type and voltages */
-    void setBatterySpecs(const QString& specs);
-    /** @brief Get the current battery type and specs */
-    QString getBatterySpecs();
-
-    /** @brief Launches the system **/
-    void launch();
-    /** @brief Write this waypoint to the list of waypoints */
-    //void setWaypoint(MissionItem* wp); FIXME tbd
-    /** @brief Set currently active waypoint */
-    //void setWaypointActive(int id); FIXME tbd
-    /** @brief Order the robot to return home **/
-    void home();
-    /** @brief Order the robot to land **/
-    void land();
+
     /** @brief Order the robot to pair its receiver **/
     void pairRX(int rxType, int rxSubType);
 
-    void halt();
-    void go();
-
     /** @brief Enable / disable HIL */
 #ifndef __mobile__
     void enableHilFlightGear(bool enable, QString options, bool sensorHil, QObject * configuration);
@@ -813,40 +606,9 @@ public slots:
     void stopHil();
 #endif
 
-    /** @brief Stops the robot system. If it is an MAV, the robot starts the emergency landing procedure **/
-    void emergencySTOP();
-
-    /** @brief Kills the robot. All systems are immediately shut down (e.g. the main power line is cut). This might lead to a crash **/
-    bool emergencyKILL();
-
-    /** @brief Shut the system cleanly down. Will shut down any onboard computers **/
-    void shutdown();
-
-    /** @brief Set the target position for the robot to navigate to. */
-    void setTargetPosition(float x, float y, float z, float yaw);
-
     void startLowBattAlarm();
     void stopLowBattAlarm();
 
-    /** @brief Arm system */
-    void armSystem();
-    /** @brief Disable the motors */
-    void disarmSystem();
-    /** @brief Toggle the armed state of the system. */
-    void toggleArmedState();
-    /**
-     * @brief Tell the UAS to switch into a completely-autonomous mode, so disable manual input.
-     */
-    void goAutonomous();
-    /**
-     * @brief Tell the UAS to switch to manual control. Stabilized attitude may simultaneously be engaged.
-     */
-    void goManual();
-    /**
-     * @brief Tell the UAS to switch between manual and autonomous control.
-     */
-    void toggleAutonomy();
-
     /** @brief Set the values for the manual control of the vehicle */
 #ifndef __mobile__
     void setExternalControlSetpoint(float roll, float pitch, float yaw, float thrust, quint16 buttons, int joystickMode);
@@ -860,39 +622,11 @@ public slots:
     /** @brief Receive a message from one of the communication links. */
     virtual void receiveMessage(mavlink_message_t message);
 
-#ifdef QGC_PROTOBUF_ENABLED
-    /** @brief Receive a message from one of the communication links. */
-    virtual void receiveExtendedMessage(LinkInterface* link, std::tr1::shared_ptr<google::protobuf::Message> message);
-#endif
-
-    /** @brief Set current mode of operation, e.g. auto or manual, always uses the current arming status for safety reason */
-    void setMode(uint8_t newBaseMode, uint32_t newCustomMode);
-
-    /** @brief Set current mode of operation, e.g. auto or manual, does not check the arming status, for anything else than arming/disarming operations use setMode instead */
-    void setModeArm(uint8_t newBaseMode, uint32_t newCustomMode);
-
-    void enableAllDataTransmission(int rate);
-    void enableRawSensorDataTransmission(int rate);
-    void enableExtendedSystemStatusTransmission(int rate);
-    void enableRCChannelDataTransmission(int rate);
-    void enableRawControllerDataTransmission(int rate);
-    //void enableRawSensorFusionTransmission(int rate);
-    void enablePositionTransmission(int rate);
-    void enableExtra1Transmission(int rate);
-    void enableExtra2Transmission(int rate);
-    void enableExtra3Transmission(int rate);
-
     /** @brief Update the system state */
     void updateState();
 
-    /** @brief Set world frame origin at current GPS position */
-    void setLocalOriginAtCurrentGPSPosition();
     /** @brief Set world frame origin / home position at this GPS position */
     void setHomePosition(double lat, double lon, double alt);
-    /** @brief Set local position setpoint */
-    void setLocalPositionSetpoint(float x, float y, float z, float yaw);
-    /** @brief Add an offset in body frame to the setpoint */
-    void setLocalPositionOffset(float x, float y, float z, float yaw);
 
     void startCalibration(StartCalibrationType calType);
     void stopCalibration(void);
@@ -900,27 +634,12 @@ public slots:
     void startBusConfig(StartBusConfigType calType);
     void stopBusConfig(void);
 
-    void startDataRecording();
-    void stopDataRecording();
-    void deleteSettings();
-
-    /** @brief Triggers the action associated with the given ID. */
-    void triggerAction(int action);
-
     /** @brief Send command to map a RC channel to a parameter */
     void sendMapRCToParam(QString param_id, float scale, float value0, quint8 param_rc_channel_index, float valueMin, float valueMax);
 
     /** @brief Send command to disable all bindings/maps between RC and parameters */
     void unsetRCToParameterMap();
 signals:
-    /** @brief The main/battery voltage has changed/was updated */
-    //void voltageChanged(int uasId, double voltage); // Defined in UASInterface already
-    /** @brief An actuator value has changed */
-    //void actuatorChanged(UASInterface*, int actId, double value); // Defined in UASInterface already
-    /** @brief An actuator value has changed */
-    void actuatorChanged(UASInterface* uas, QString actuatorName, double min, double max, double value);
-    void motorChanged(UASInterface* uas, QString motorName, double min, double max, double value);
-    /** @brief The system load (MCU/CPU usage) changed */
     void loadChanged(UASInterface* uas, double load);
     /** @brief Propagate a heartbeat received from the system */
     //void heartbeat(UASInterface* uas); // Defined in UASInterface already
@@ -966,13 +685,11 @@ protected:
     quint64 lastVoltageWarning; ///< Time at which the last voltage warning occured
     quint64 lastNonNullTime;    ///< The last timestamp from the MAV that was not null
     unsigned int onboardTimeOffsetInvalidCount;     ///< Count when the offboard time offset estimation seemed wrong
-    bool hilEnabled;            ///< Set to true if HIL mode is enabled from GCS (UAS might be in HIL even if this flag is not set, this defines the GCS HIL setting)
+    bool hilEnabled;
     bool sensorHil;             ///< True if sensor HIL is enabled
     quint64 lastSendTimeGPS;     ///< Last HIL GPS message sent
     quint64 lastSendTimeSensors; ///< Last HIL Sensors message sent
     quint64 lastSendTimeOpticalFlow; ///< Last HIL Optical Flow message sent
-    QList<QAction*> actions; ///< A list of actions that this UAS can perform.
-
 
 protected slots:
     /** @brief Write settings to disk */

src/uas/UASInterface.h

@@ -54,32 +54,6 @@ enum BatteryType
     AGZN = 5
 }; ///< The type of battery used
 
-/*
-enum SpeedMeasurementSource
-{
-    PRIMARY_SPEED = 0,          // ArduPlane: Measured airspeed or estimated airspeed. ArduCopter: Ground (XY) speed.
-    GROUNDSPEED_BY_UAV = 1,     // Ground speed as reported by UAS
-    GROUNDSPEED_BY_GPS = 2,     // Ground speed as calculated from received GPS velocity data
-    LOCAL_SPEED = 3
-}; ///< For velocity data, the data source
-
-enum AltitudeMeasurementSource
-{
-    PRIMARY_ALTITUDE = 0,                  // ArduPlane: air and ground speed mix. This is the altitude used for navigastion.
-    BAROMETRIC_ALTITUDE = 1,               // Altitude is pressure altitude. Ardupilot reports no altitude purely by barometer,
-                                           // however when ALT_MIX==1, mix-altitude is purely barometric.
-    GPS_ALTITUDE = 2                       // GPS ASL altitude
-}; ///< For altitude data, the data source
-
-// TODO!!! The different frames are probably represented elsewhere. There should really only
-// be one set of frames. We also need to keep track of the home alt. somehow.
-enum AltitudeMeasurementFrame
-{
-    ABSOLUTE = 0,               // Altitude is pressure altitude
-    ABOVE_HOME_POSITION = 1
-}; ///< For altitude data, a reference frame
-*/
-
 /**
  * @brief Interface for all robots.
  *
@@ -96,11 +70,6 @@ public:
 
     /** @brief The name of the robot **/
     virtual QString getUASName() const = 0;
-    /** @brief Get short state */
-    virtual const QString& getShortState() const = 0;
-    /** @brief Get short mode */
-    virtual const QString& getShortMode() const = 0;
-    //virtual QColor getColor() = 0;
     virtual int getUASID() const = 0; ///< Get the ID of the connected UAS
     /** @brief The time interval the robot is switched on **/
     virtual quint64 getUptime() const = 0;
@@ -120,8 +89,6 @@ public:
     virtual double getPitch() const = 0;
     virtual double getYaw() const = 0;
 
-    virtual bool isArmed() const = 0;
-
     /** @brief Set the airframe of this MAV */
     virtual int getAirframe() const = 0;
 
@@ -192,15 +159,9 @@ public:
     virtual int getSystemType() = 0;
     /** @brief Is it an airplane (or like one)?,..)*/
     virtual bool isAirplane() = 0;
-    /** @brief Indicates whether this system is capable of controlling a reverse velocity.
-     * Used for, among other things, altering joystick input to either -1:1 or 0:1 range.
-     */
-    virtual bool systemCanReverse() const = 0;
 
-    virtual QString getSystemTypeName() = 0;
     /** @brief Get the type of the autopilot (PIXHAWK, APM, UDB, PPZ,..) */
     virtual int getAutopilotType() = 0;
-    virtual QString getAutopilotTypeName() = 0;
     virtual void setAutopilotType(int apType) = 0;
 
     virtual QMap<int, QString> getComponents() = 0;
@@ -210,13 +171,6 @@ public:
         return color;
     }
 
-    /** @brief Returns a list of actions/commands that this vehicle can perform.
-     * Used for creating UI elements for built-in functionality for this vehicle.
-     * Actions should be mappings to `void f(void);` functions that simply issue
-     * a command to the vehicle.
-     */
-    virtual QList<QAction*> getActions() const = 0;
-
     static const unsigned int WAYPOINT_RADIUS_DEFAULT_FIXED_WING = 25;
     static const unsigned int WAYPOINT_RADIUS_DEFAULT_ROTARY_WING = 5;
     
@@ -250,86 +204,22 @@ public:
 
 public slots:
 
-    /** @brief Set a new name for the system */
-    virtual void setUASName(const QString& name) = 0;
-    /** @brief Execute command immediately **/
-    virtual void executeCommand(MAV_CMD command) = 0;
     /** @brief Executes a command **/
     virtual void executeCommand(MAV_CMD command, int confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7, int component) = 0;
-    /** @brief Executes a command ack, with success boolean **/
-    virtual void executeCommandAck(int num, bool success) = 0;
 
     /** @brief Selects the airframe */
     virtual void setAirframe(int airframe) = 0;
 
-    /** @brief Launches the system/Liftof **/
-    virtual void launch() = 0;
-    /** @brief Set a new waypoint **/
-    //virtual void setWaypoint(MissionItem* wp) = 0;
-    /** @brief Set this waypoint as next waypoint to fly to */
-    //virtual void setWaypointActive(int wp) = 0;
-    /** @brief Order the robot to return home / to land on the runway **/
-    virtual void home() = 0;
-    /** @brief Order the robot to land **/
-    virtual void land() = 0;
     /** @brief Order the robot to pair its receiver **/
     virtual void pairRX(int rxType, int rxSubType) = 0;
-    /** @brief Halt the system */
-    virtual void halt() = 0;
-    /** @brief Start/continue the current robot action */
-    virtual void go() = 0;
-    /** @brief Set the current mode of operation */
-    virtual void setMode(uint8_t newBaseMode, uint32_t newCustomMode) = 0;
-    /** Stops the robot system. If it is an MAV, the robot starts the emergency landing procedure **/
-    virtual void emergencySTOP() = 0;
-    /** Kills the robot. All systems are immediately shut down (e.g. the main power line is cut). This might lead to a crash **/
-    virtual bool emergencyKILL() = 0;
-    /**
-     * @brief Shut down the system's computers
-     *
-     * Works only if already landed and will cleanly shut down all onboard computers.
-     */
-    virtual void shutdown() = 0;
-    /** @brief Set the target position for the robot to navigate to.
-     *  @param x x-coordinate of the target position
-     *  @param y y-coordinate of the target position
-     *  @param z z-coordinate of the target position
-     *  @param yaw heading of the target position
-     */
-    virtual void setTargetPosition(float x, float y, float z, float yaw) = 0;
-    /** @brief Request the list of stored waypoints from the robot */
-    //virtual void requestWaypoints() = 0;
-    /** @brief Clear all existing waypoints on the robot */
-    //virtual void clearWaypointList() = 0;
-    /** @brief Set world frame origin at current GPS position */
-    virtual void setLocalOriginAtCurrentGPSPosition() = 0;
-    /** @brief Set world frame origin / home position at this GPS position */
-    virtual void setHomePosition(double lat, double lon, double alt) = 0;
     
-    virtual void enableAllDataTransmission(int rate) = 0;
-    virtual void enableRawSensorDataTransmission(int rate) = 0;
-    virtual void enableExtendedSystemStatusTransmission(int rate) = 0;
-    virtual void enableRCChannelDataTransmission(int rate) = 0;
-    virtual void enableRawControllerDataTransmission(int rate) = 0;
-    //virtual void enableRawSensorFusionTransmission(int rate) = 0;
-    virtual void enablePositionTransmission(int rate) = 0;
-    virtual void enableExtra1Transmission(int rate) = 0;
-    virtual void enableExtra2Transmission(int rate) = 0;
-    virtual void enableExtra3Transmission(int rate) = 0;
-
-    virtual void setLocalPositionSetpoint(float x, float y, float z, float yaw) = 0;
-    virtual void setLocalPositionOffset(float x, float y, float z, float yaw) = 0;
+    virtual void setHomePosition(double lat, double lon, double alt) = 0;
 
     /** @brief Return if this a rotary wing */
     virtual bool isRotaryWing() = 0;
     /** @brief Return if this is a fixed wing */
     virtual bool isFixedWing() = 0;
 
-    /** @brief Set the current battery type and voltages */
-    virtual void setBatterySpecs(const QString& specs) = 0;
-    /** @brief Get the current battery type and specs */
-    virtual QString getBatterySpecs() = 0;
-
     /** @brief Send the full HIL state to the MAV */
 #ifndef __mobile__
     virtual void sendHilState(quint64 time_us, float roll, float pitch, float yaw, float rollspeed,
@@ -360,8 +250,6 @@ protected:
 signals:
     /** @brief The robot state has changed */
     void statusChanged(int stateFlag);
-    /** @brief A new component was detected or created */
-    void componentCreated(int uas, int component, const QString& name);
     /** @brief The robot state has changed
      *
      * @param uas this robot
@@ -369,32 +257,10 @@ signals:
      * @param description longer textual description. Should be however limited to a short text, e.g. 200 chars.
      */
     void statusChanged(UASInterface* uas, QString status, QString description);
-    /**
-     * @brief Received a plain text message from the robot
-     * This signal should NOT be used for standard communication, but rather for VERY IMPORTANT
-     * messages like critical errors.
-     *
-     * @param uasid ID of the sending system
-     * @param compid ID of the sending component
-     * @param text the status text
-     * @param severity The severity of the message, 0 for plain debug messages, 10 for very critical messages
-     */
-
-    void poiFound(UASInterface* uas, int type, int colorIndex, QString message, float x, float y, float z);
-    void poiConnectionFound(UASInterface* uas, int type, int colorIndex, QString message, float x1, float y1, float z1, float x2, float y2, float z2);
 
     /** @brief A text message from the system has been received */
     void textMessageReceived(int uasid, int componentid, int severity, QString text);
 
-    void navModeChanged(int uasid, int mode, const QString& text);
-
-    /** @brief System is now armed */
-    void armed();
-    /** @brief System is now disarmed */
-    void disarmed();
-    /** @brief Arming mode changed */
-    void armingChanged(bool armed);
-
     /**
      * @brief Update the error count of a device
      *
@@ -417,22 +283,10 @@ signals:
      * @param receiveDrop drop rate of packets this MAV receives (sent from GCS or other MAVs)
      */
     void dropRateChanged(int systemId,  float receiveDrop);
-    /** @brief Robot mode has changed */
-    void modeChanged(int sysId, QString status, QString description);
-    /** @brief A command has been issued **/
-    void commandSent(int command);
-    /** @brief The robot is connecting **/
-    void connecting();
     /** @brief The robot is connected **/
     void connected();
     /** @brief The robot is disconnected **/
     void disconnected();
-    /** @brief The robot is active **/
-    void activated();
-    /** @brief The robot is inactive **/
-    void deactivated();
-    /** @brief The robot is manually controlled **/
-    void manualControl();
 
     /** @brief A value of the robot has changed.
       *
@@ -448,12 +302,8 @@ signals:
       */
     void valueChanged(const int uasid, const QString& name, const QString& unit, const QVariant &value,const quint64 msecs);
 
-    void voltageChanged(int uasId, double voltage);
-    void waypointUpdated(int uasId, int id, double x, double y, double z, double yaw, bool autocontinue, bool active);
-    void waypointSelected(int uasId, int id);
-    void waypointReached(UASInterface* uas, int id);
-    void autoModeChanged(bool autoMode);
     void parameterUpdate(int uas, int component, QString parameterName, int parameterCount, int parameterId, int type, QVariant value);
+
     /**
      * @brief The battery status has been updated
      *
@@ -465,7 +315,6 @@ signals:
     void batteryChanged(UASInterface* uas, double voltage, double current, double percent, int seconds);
     void batteryConsumedChanged(UASInterface* uas, double current_consumed);
     void statusChanged(UASInterface* uas, QString status);
-    void actuatorChanged(UASInterface*, int actId, double value);
     void thrustChanged(UASInterface*, double thrust);
     void heartbeat(UASInterface* uas);
     void attitudeChanged(UASInterface*, double roll, double pitch, double yaw, quint64 usec);
@@ -520,13 +369,6 @@ signals:
     void baroStatusChanged(bool supported, bool enabled, bool ok);
     /** @brief Differential pressure / airspeed status changed */
     void airspeedStatusChanged(bool supported, bool enabled, bool ok);
-    /** @brief Actuator status changed */
-    void actuatorStatusChanged(bool supported, bool enabled, bool ok);
-    /** @brief Laser scanner status changed */
-    void laserStatusChanged(bool supported, bool enabled, bool ok);
-    /** @brief Vicon / Leica Geotracker status changed */
-    void groundTruthSensorStatusChanged(bool supported, bool enabled, bool ok);
-
 
     /** @brief Value of a remote control channel (raw) */
     void remoteControlChannelRawChanged(int channelId, float raw);
@@ -540,21 +382,6 @@ signals:
      * @param fix 0: lost, 1: 2D local position hold, 2: 2D localization, 3: 3D localization
      */
     void localizationChanged(UASInterface* uas, int fix);
-    /**
-     * @brief GPS localization quality changed
-     * @param fix 0: lost, 1: at least one satellite, but no GPS fix, 2: 2D localization, 3: 3D localization
-     */
-    void gpsLocalizationChanged(UASInterface* uas, int fix);
-    /**
-     * @brief Vision localization quality changed
-     * @param fix 0: lost, 1: 2D local position hold, 2: 2D localization, 3: 3D localization
-     */
-    void visionLocalizationChanged(UASInterface* uas, int fix);
-    /**
-     * @brief IR/U localization quality changed
-     * @param fix 0: No IR/Ultrasound sensor, N > 0: Found N active sensors
-     */
-    void irUltraSoundLocalizationChanged(UASInterface* uas, int fix);
 
     // ERROR AND STATUS SIGNALS
     /** @brief Heartbeat timed out or was regained */
@@ -564,16 +391,9 @@ signals:
     /** @brief Core specifications have changed */
     void systemSpecsChanged(int uasId);
 
-    /** @brief Object detected */
-    void objectDetected(unsigned int time, int id, int type, const QString& name, int quality, float bearing, float distance);
-
-
     // HOME POSITION / ORIGIN CHANGES
     void homePositionChanged(int uas, double lat, double lon, double alt);
 
-    /** @brief The system received an unknown message, which it could not interpret */
-    void unknownPacketReceived(int uas, int component, int messageid);
-
 protected:
 
     // TIMEOUT CONSTANTS