Merge pull request #1520 from DonLakeFlyer/SimulateGone

Remove the "Simulate" feature

Merge pull request #1520 from DonLakeFlyer/SimulateGone
Remove the "Simulate" feature
3101261e · Don Gagne · 5ae769a1 · 69712e32 · 3101261e · 3101261e
Commit 3101261e authored Apr 30, 2015 by Don Gagne
--- a/QGCApplication.pro
+++ b/QGCApplication.pro
@@ -235,10 +235,8 @@ HEADERS += \
    src/comm/LinkInterface.h \
    src/comm/LinkManager.h \
    src/comm/MAVLinkProtocol.h \
-    src/comm/MAVLinkSimulationLink.h \
+    src/comm/MockLink.h \
-    src/comm/MAVLinkSimulationMAV.h \
+    src/comm/MockLinkMissionItemHandler.h \
-    src/comm/MAVLinkSimulationWaypointPlanner.h \
-    src/comm/MAVLinkSwarmSimulationLink.h \
    src/comm/ProtocolInterface.h \
    src/comm/QGCFlightGearLink.h \
    src/comm/QGCHilLink.h \
@@ -357,12 +355,6 @@ HEADERS += \
    src/ViewWidgets/ViewWidgetController.h \
    src/Waypoint.h \
-DebugBuild {
-HEADERS += \
-    src/comm/MockLink.h \
-    src/comm/MockLinkMissionItemHandler.h
-}
 !AndroidBuild {
 HEADERS += \
    src/input/JoystickInput.h \
@@ -378,10 +370,8 @@ SOURCES += \
    src/comm/LinkConfiguration.cc \
    src/comm/LinkManager.cc \
    src/comm/MAVLinkProtocol.cc \
-    src/comm/MAVLinkSimulationLink.cc \
+    src/comm/MockLink.cc \
-    src/comm/MAVLinkSimulationMAV.cc \
+    src/comm/MockLinkMissionItemHandler.cc \
-    src/comm/MAVLinkSimulationWaypointPlanner.cc \
-    src/comm/MAVLinkSwarmSimulationLink.cc \
    src/comm/QGCFlightGearLink.cc \
    src/comm/QGCJSBSimLink.cc \
    src/comm/QGCXPlaneLink.cc \
@@ -492,12 +482,6 @@ SOURCES += \
    src/ViewWidgets/ViewWidgetController.cc \
    src/Waypoint.cc \
-DebugBuild {
-SOURCES += \
-    src/comm/MockLink.cc \
-    src/comm/MockLinkMissionItemHandler.cc
-}
 !AndroidBuild {
 SOURCES += \
    src/input/JoystickInput.cc \

--- a/src/QGCApplication.cc
+++ b/src/QGCApplication.cc
@@ -49,7 +49,6 @@
 #include "QGCMessageBox.h"
 #include "MainWindow.h"
 #include "UDPLink.h"
-#include "MAVLinkSimulationLink.h"
 #include "SerialLink.h"
 #include "QGCSingleton.h"
 #include "LinkManager.h"

--- a/src/comm/LinkConfiguration.h
+++ b/src/comm/LinkConfiguration.h
@@ -44,14 +44,11 @@ public:
        TypeTcp,        ///< TCP Link
        // TODO Below is not yet implemented
 #if 0
-        TypeSimulation, ///< Simulation Link
        TypeForwarding, ///< Forwarding Link
        TypeXbee,       ///< XBee Proprietary Link
        TypeOpal,       ///< Opal-RT Link
 #endif
-#ifdef QT_DEBUG
        TypeMock,       ///< Mock Link for Unitesting
-#endif
        TypeLast        // Last type value (type >= TypeLast == invalid)
    };

--- a/src/comm/MAVLinkSimulationLink.cc
+++ b/src/comm/MAVLinkSimulationLink.cc
--- a/src/comm/MAVLinkSimulationLink.h
+++ b/src/comm/MAVLinkSimulationLink.h
-/*=====================================================================
-QGroundControl Open Source Ground Control Station
-(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
-This file is part of the QGROUNDCONTROL project
-    QGROUNDCONTROL is free software: you can redistribute it and/or modify
-    it under the terms of the GNU General Public License as published by
-    the Free Software Foundation, either version 3 of the License, or
-    (at your option) any later version.
-    QGROUNDCONTROL is distributed in the hope that it will be useful,
-    but WITHOUT ANY WARRANTY; without even the implied warranty of
-    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-    GNU General Public License for more details.
-    You should have received a copy of the GNU General Public License
-    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
-======================================================================*/
-/**
- * @file
- *   @brief Definition of MAVLinkSimulationLink
- *
- *   @author Lorenz Meier <mavteam@student.ethz.ch>
- *
- */
-#ifndef MAVLINKSIMULATIONLINK_H
-#define MAVLINKSIMULATIONLINK_H
-#include <QFile>
-#include <QTimer>
-#include <QTextStream>
-#include <QQueue>
-#include <QMutex>
-#include <QMap>
-#include <qmath.h>
-#include <inttypes.h>
-#include "QGCMAVLink.h"
-#include "LinkInterface.h"
-class MAVLinkSimulationLink : public LinkInterface
-{
-    Q_OBJECT
-public:
-    MAVLinkSimulationLink(QString readFile="", QString writeFile="", int rate=5);
-    ~MAVLinkSimulationLink();
-    bool isConnected() const;
-    void run();
-    void requestReset() { }
-    // Extensive statistics for scientific purposes
-    qint64 getConnectionSpeed() const;
-    qint64 getCurrentInDataRate() const;
-    qint64 getCurrentOutDataRate() const;
-    QString getName() const;
-    int getBaudRate() const;
-    int getBaudRateType() const;
-    int getFlowType() const;
-    int getParityType() const;
-    int getDataBitsType() const;
-    int getStopBitsType() const;
-    // These are left unimplemented in order to cause linker errors which indicate incorrect usage of
-    // connect/disconnect on link directly. All connect/disconnect calls should be made through LinkManager.
-    bool connect(void);
-    bool disconnect(void);
-public slots:
-    void writeBytes(const char* data, qint64 size);
-    void readBytes();
-    /** @brief Mainloop simulating the mainloop of the MAV */
-    virtual void mainloop();
-    void sendMAVLinkMessage(const mavlink_message_t* msg);
-protected:
-    // UAS properties
-    float roll, pitch, yaw;
-    double x, y, z;
-    double spX, spY, spZ, spYaw;
-    int battery;
-    QTimer* timer;
-    /** File which contains the input data (simulated robot messages) **/
-    QFile* simulationFile;
-    QFile* mavlinkLogFile;
-    QString simulationHeader;
-    /** File where the commands sent by the groundstation are stored **/
-    QFile* receiveFile;
-    QTextStream textStream;
-    QTextStream* fileStream;
-    QTextStream* outStream;
-    /** Buffer which can be read from connected protocols through readBytes(). **/
-    QMutex readyBufferMutex;
-    bool _isConnected;
-    quint64 rate;
-    int maxTimeNoise;
-    quint64 lastSent;
-    static const int streamlength = 4096;
-    unsigned int streampointer;
-    //const int testoffset = 0;
-    uint8_t stream[streamlength];
-    int readyBytes;
-    QQueue<uint8_t> readyBuffer;
-    QString name;
-    qint64 timeOffset;
-    mavlink_sys_status_t status;
-    mavlink_heartbeat_t system;
-    QMap<QString, float> onboardParams;
-    void enqueue(uint8_t* stream, uint8_t* index, mavlink_message_t* msg);
-    static const uint8_t systemId = 220;
-    static const uint8_t componentId = 200;
-    static const uint16_t version = 1000;
-signals:
-    void valueChanged(int uasId, QString curve, double value, quint64 usec);
-    void messageReceived(const mavlink_message_t& message);
-private:
-    // From LinkInterface
-    virtual bool _connect(void);
-    virtual bool _disconnect(void);
-};
-#endif // MAVLINKSIMULATIONLINK_H
--- a/src/comm/MAVLinkSimulationMAV.cc
+++ b/src/comm/MAVLinkSimulationMAV.cc
-#include <QDebug>
-#include <cmath>
-#include <qmath.h>
-#include <QGC.h>
-#include "MAVLinkSimulationMAV.h"
-MAVLinkSimulationMAV::MAVLinkSimulationMAV(MAVLinkSimulationLink *parent, int systemid, double lat, double lon, int version) :
-    QObject(parent),
-    link(parent),
-    planner(parent, systemid),
-    systemid(systemid),
-    timer25Hz(0),
-    timer10Hz(0),
-    timer1Hz(0),
-    latitude(lat),
-    longitude(lon),
-    altitude(550.0),
-    x(lat),
-    y(lon),
-    z(altitude),
-    roll(0.0),
-    pitch(0.0),
-    yaw(0.0),
-    rollspeed(0.0),
-    pitchspeed(0.0),
-    yawspeed(0.0),
-    globalNavigation(true),
-    firstWP(false),
-    //    previousSPX(8.548056),
-    //    previousSPY(47.376389),
-    //    previousSPZ(550),
-    //    previousSPYaw(0.0),
-    //    nextSPX(8.548056),
-    //    nextSPY(47.376389),
-    //    nextSPZ(550),
-    previousSPX(37.480391),
-    previousSPY(122.282883),
-    previousSPZ(550),
-    previousSPYaw(0.0),
-    nextSPX(37.480391),
-    nextSPY(122.282883),
-    nextSPZ(550),
-    nextSPYaw(0.0),
-    sys_mode(MAV_MODE_PREFLIGHT),
-    sys_state(MAV_STATE_STANDBY),
-    nav_mode(0),
-    flying(false),
-    mavlink_version(version)
-{
-    // Please note: The waypoint planner is running
-    connect(&mainloopTimer, SIGNAL(timeout()), this, SLOT(mainloop()));
-    connect(&planner, SIGNAL(messageSent(mavlink_message_t)), this, SLOT(handleMessage(mavlink_message_t)));
-    connect(link, SIGNAL(messageReceived(mavlink_message_t)), this, SLOT(handleMessage(mavlink_message_t)));
-    mainloopTimer.start(20);
-    mainloop();
-}
-void MAVLinkSimulationMAV::mainloop()
-{
-    // Calculate new simulator values
-    //    double maxSpeed = 0.0001; // rad/s in earth coordinate frame
-    //        double xNew = // (nextSPX - previousSPX)
-    if (flying) {
-        sys_state = MAV_STATE_ACTIVE;
-        sys_mode = MAV_MODE_AUTO_ARMED;
-        nav_mode = 0;
-    }
-    // 1 Hz execution
-    if (timer1Hz <= 0) {
-        mavlink_message_t msg;
-        mavlink_msg_heartbeat_pack(systemid, MAV_COMP_ID_IMU, &msg, MAV_TYPE_FIXED_WING, MAV_AUTOPILOT_PIXHAWK, MAV_MODE_GUIDED_ARMED, 0, MAV_STATE_ACTIVE);
-        link->sendMAVLinkMessage(&msg);
-        planner.handleMessage(msg);
-        mavlink_servo_output_raw_t servos;
-        servos.time_usec = 0;
-        servos.servo1_raw = 1000;
-        servos.servo2_raw = 1250;
-        servos.servo3_raw = 1400;
-        servos.servo4_raw = 1500;
-        servos.servo5_raw = 1800;
-        servos.servo6_raw = 1500;
-        servos.servo7_raw = 1500;
-        servos.servo8_raw = 2000;
-        servos.port = 1;    // set a fake port number
-        mavlink_msg_servo_output_raw_encode(systemid, MAV_COMP_ID_IMU, &msg, &servos);
-        link->sendMAVLinkMessage(&msg);
-        timer1Hz = 50;
-    }
-    // 10 Hz execution
-    if (timer10Hz <= 0) {
-        double radPer100ms = 0.00006;
-        double altPer100ms = 0.4;
-        double xm = (nextSPX - x);
-        double ym = (nextSPY - y);
-        double zm = (nextSPZ - z);
-        float zsign = (zm < 0) ? -1.0f : 1.0f;
-        if (!(sys_mode & MAV_MODE_FLAG_DECODE_POSITION_HIL))
-        {
-            if (!firstWP) {
-                //float trueyaw = atan2f(xm, ym);
-                float newYaw = atan2f(ym, xm);
-                if (fabs(yaw - newYaw) < 90) {
-                    yaw = yaw*0.7 + 0.3*newYaw;
-                } else {
-                    yaw = newYaw;
-                }
-                //qDebug() << "SIMULATION MAV: x:" << xm << "y:" << ym << "z:" << zm << "yaw:" << yaw;
-                //if (sqrt(xm*xm+ym*ym) > 0.0000001)
-                if (flying) {
-                    x += cos(yaw)*radPer100ms;
-                    y += sin(yaw)*radPer100ms;
-                    z += altPer100ms*zsign;
-                }
-                //if (xm < 0.001) xm
-            } else {
-                x = nextSPX;
-                y = nextSPY;
-                z = nextSPZ;
-                firstWP = false;
-//                qDebug() << "INIT STEP";
-            }
-        }
-        else
-        {
-            // FIXME Implement heading and altitude controller
-        }
-        // GLOBAL POSITION
-        mavlink_message_t msg;
-        mavlink_global_position_int_t pos;
-        pos.alt = altitude*1000.0;
-        pos.lat = longitude*1E7;
-        pos.lon = longitude*1E7;
-        pos.vx = sin(yaw)*10.0f*100.0f;
-        pos.vy = 0;
-        pos.vz = altPer100ms*10.0f*100.0f*zsign*-1.0f;
-        mavlink_msg_global_position_int_encode(systemid, MAV_COMP_ID_IMU, &msg, &pos);
-        link->sendMAVLinkMessage(&msg);
-        planner.handleMessage(msg);
-        // ATTITUDE
-        mavlink_attitude_t attitude;
-        attitude.time_boot_ms = 0;
-        attitude.roll = roll;
-        attitude.pitch = pitch;
-        attitude.yaw = yaw;
-        attitude.rollspeed = rollspeed;
-        attitude.pitchspeed = pitchspeed;
-        attitude.yawspeed = yawspeed;
-        mavlink_msg_attitude_encode(systemid, MAV_COMP_ID_IMU, &msg, &attitude);
-        link->sendMAVLinkMessage(&msg);
-        // SYSTEM STATUS
-        mavlink_sys_status_t status;
-        // Since the simulation outputs global position, attitude and raw pressure we specify that the
-        // sensors that would be collecting this information are present, enabled and healthy.
-        status.onboard_control_sensors_present = MAV_SYS_STATUS_SENSOR_3D_GYRO |
-                                                    MAV_SYS_STATUS_SENSOR_3D_ACCEL |
-                                                    MAV_SYS_STATUS_SENSOR_3D_MAG |
-                                                    MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE |
-                                                    MAV_SYS_STATUS_SENSOR_GPS;
-        status.onboard_control_sensors_enabled = status.onboard_control_sensors_present;
-        status.onboard_control_sensors_health = status.onboard_control_sensors_present;
-        status.load = 300;
-        status.voltage_battery = 10500;
-        status.current_battery = -1;  // -1: autopilot does not measure the current
-        status.drop_rate_comm = 0;
-        status.errors_comm = 0;
-        status.errors_count1 = 0;
-        status.errors_count2 = 0;
-        status.errors_count3 = 0;
-        status.errors_count4 = 0;
-        status.battery_remaining = 90;
-        mavlink_msg_sys_status_encode(systemid, MAV_COMP_ID_IMU, &msg, &status);
-        link->sendMAVLinkMessage(&msg);
-        timer10Hz = 5;
-        // VFR HUD
-        mavlink_vfr_hud_t hud;
-        hud.airspeed = pos.vx/100.0f;
-        hud.groundspeed = pos.vx/100.0f;
-        hud.alt = altitude;
-        hud.heading = static_cast<int>((yaw/M_PI)*180.0f+180.0f) % 360;
-        hud.climb = pos.vz/100.0f;
-        hud.throttle = 90;
-        mavlink_msg_vfr_hud_encode(systemid, MAV_COMP_ID_IMU, &msg, &hud);
-        link->sendMAVLinkMessage(&msg);
-        // NAV CONTROLLER
-        mavlink_nav_controller_output_t nav;
-        nav.nav_roll = roll;
-        nav.nav_pitch = pitch;
-        nav.nav_bearing = yaw;
-        nav.target_bearing = yaw;
-        nav.wp_dist = 2.0f;
-        nav.alt_error = 0.5f;
-        nav.xtrack_error = 0.2f;
-        nav.aspd_error = 0.0f;
-        mavlink_msg_nav_controller_output_encode(systemid, MAV_COMP_ID_IMU, &msg, &nav);
-        link->sendMAVLinkMessage(&msg);
-        // RAW PRESSURE
-        mavlink_raw_pressure_t pressure;
-        pressure.press_abs = 1000;
-        pressure.press_diff1 = 2000;
-        pressure.press_diff2 = 5000;
-        pressure.temperature = 18150; // 18.15 deg Celsius
-        pressure.time_usec = 0; // Works also with zero timestamp
-        mavlink_msg_raw_pressure_encode(systemid, MAV_COMP_ID_IMU, &msg, &pressure);
-        link->sendMAVLinkMessage(&msg);
-    }
-    // 25 Hz execution
-    if (timer25Hz <= 0) {
-        // The message container to be used for sending
-        mavlink_message_t ret;
-        if (sys_mode & MAV_MODE_FLAG_DECODE_POSITION_HIL)
-        {
-            mavlink_hil_controls_t hil;
-            hil.roll_ailerons = 0.0f;
-            hil.pitch_elevator = 0.05f;
-            hil.yaw_rudder = 0.05f;
-            hil.throttle = 0.6f;
-            hil.aux1 = 0.0f;
-            hil.aux2 = 0.0f;
-            hil.aux3 = 0.0f;
-            hil.aux4 = 0.0f;
-            hil.mode = MAV_MODE_FLAG_HIL_ENABLED;
-            hil.nav_mode = 0;   // not currently used by any HIL consumers
-            // Encode the data (adding header and checksums, etc.)
-            mavlink_msg_hil_controls_encode(systemid, MAV_COMP_ID_IMU, &ret, &hil);
-            // And send it
-            link->sendMAVLinkMessage(&ret);
-        }
-        // Send actual controller outputs
-        // This message just shows the direction
-        // and magnitude of the control output
-        //        mavlink_position_controller_output_t pos;
-        //        pos.x = sin(yaw)*127.0f;
-        //        pos.y = cos(yaw)*127.0f;
-        //        pos.z = 0;
-        //        mavlink_msg_position_controller_output_encode(systemid, MAV_COMP_ID_IMU, &ret, &pos);
-        //        link->sendMAVLinkMessage(&ret);
-        // Send a named value with name "FLOAT" and 0.5f as value
-        // The message container to be used for sending
-        //mavlink_message_t ret;
-        // The C-struct holding the data to be sent
-        mavlink_named_value_float_t val;
-        // Fill in the data
-        // Name of the value, maximum 10 characters
-        // see full message specs at:
-        // http://pixhawk.ethz.ch/wiki/mavlink/
-        strcpy((char *)val.name, "FLOAT");
-        // Value, in this case 0.5
-        val.value = 0.5f;
-        // Encode the data (adding header and checksums, etc.)
-        mavlink_msg_named_value_float_encode(systemid, MAV_COMP_ID_IMU, &ret, &val);
-        // And send it
-        link->sendMAVLinkMessage(&ret);
-        // MICROCONTROLLER SEND CODE:
-        // uint8_t buf[MAVLINK_MAX_PACKET_LEN];
-        // int16_t len = mavlink_msg_to_send_buffer(buf, &ret);
-        // uart0_transmit(buf, len);
-        // SEND INTEGER VALUE
-        // We are reusing the "mavlink_message_t ret"
-        // message buffer
-        // The C-struct holding the data to be sent
-        mavlink_named_value_int_t valint;
-        // Fill in the data
-        // Name of the value, maximum 10 characters
-        // see full message specs at:
-        // http://pixhawk.ethz.ch/wiki/mavlink/
-        strcpy((char *)valint.name, "INTEGER");
-        // Value, in this case 18000
-        valint.value = 18000;
-        // Encode the data (adding header and checksums, etc.)
-        mavlink_msg_named_value_int_encode(systemid, MAV_COMP_ID_IMU, &ret, &valint);
-        // And send it
-        link->sendMAVLinkMessage(&ret);
-        // MICROCONTROLLER SEND CODE:
-        // uint8_t buf[MAVLINK_MAX_PACKET_LEN];
-        // int16_t len = mavlink_msg_to_send_buffer(buf, &ret);
-        // uart0_transmit(buf, len);
-        timer25Hz = 2;
-    }
-    timer1Hz--;
-    timer10Hz--;
-    timer25Hz--;
-}
-// Uncomment to turn on debug message printing
-//#define DEBUG_PRINT_MESSAGE
-#ifdef DEBUG_PRINT_MESSAGE
-//static unsigned chan_counts[MAVLINK_COMM_NUM_BUFFERS];
-static const unsigned message_lengths[] = MAVLINK_MESSAGE_LENGTHS;
-//static unsigned error_count;
-mavlink_message_info_t message_info[256] = MAVLINK_MESSAGE_INFO;
-static void print_one_field(const mavlink_message_t *msg, const mavlink_field_info_t *f, int idx)
-{
-#define PRINT_FORMAT(f, def) (f->print_format?f->print_format:def)
-    switch (f->type) {
-    case MAVLINK_TYPE_CHAR:
-        qDebug(PRINT_FORMAT(f, "%c"), _MAV_RETURN_char(msg, f->wire_offset+idx*1));
-        break;
-    case MAVLINK_TYPE_UINT8_T:
-        qDebug(PRINT_FORMAT(f, "%u"), _MAV_RETURN_uint8_t(msg, f->wire_offset+idx*1));
-        break;
-    case MAVLINK_TYPE_INT8_T:
-        qDebug(PRINT_FORMAT(f, "%d"), _MAV_RETURN_int8_t(msg, f->wire_offset+idx*1));
-        break;
-    case MAVLINK_TYPE_UINT16_T:
-        qDebug(PRINT_FORMAT(f, "%u"), _MAV_RETURN_uint16_t(msg, f->wire_offset+idx*2));
-        break;
-    case MAVLINK_TYPE_INT16_T:
-        qDebug(PRINT_FORMAT(f, "%d"), _MAV_RETURN_int16_t(msg, f->wire_offset+idx*2));
-        break;
-    case MAVLINK_TYPE_UINT32_T:
-        qDebug(PRINT_FORMAT(f, "%lu"), (unsigned long)_MAV_RETURN_uint32_t(msg, f->wire_offset+idx*4));
-        break;
-    case MAVLINK_TYPE_INT32_T:
-        qDebug(PRINT_FORMAT(f, "%ld"), (long)_MAV_RETURN_int32_t(msg, f->wire_offset+idx*4));
-        break;
-    case MAVLINK_TYPE_UINT64_T:
-        qDebug(PRINT_FORMAT(f, "%llu"), (unsigned long long)_MAV_RETURN_uint64_t(msg, f->wire_offset+idx*8));
-        break;
-    case MAVLINK_TYPE_INT64_T:
-        qDebug(PRINT_FORMAT(f, "%lld"), (long long)_MAV_RETURN_int64_t(msg, f->wire_offset+idx*8));
-        break;
-    case MAVLINK_TYPE_FLOAT:
-        qDebug(PRINT_FORMAT(f, "%f"), (double)_MAV_RETURN_float(msg, f->wire_offset+idx*4));
-        break;
-    case MAVLINK_TYPE_DOUBLE:
-        qDebug(PRINT_FORMAT(f, "%f"), _MAV_RETURN_double(msg, f->wire_offset+idx*8));
-        break;
-    }
-}
-static void print_field(const mavlink_message_t *msg, const mavlink_field_info_t *f)
-{
-    qDebug("%s: ", f->name);
-    if (f->array_length == 0) {
-        print_one_field(msg, f, 0);
-        qDebug(" ");
-    } else {
-        unsigned i;
-        /* print an array */
-        if (f->type == MAVLINK_TYPE_CHAR) {
-            qDebug("'%.*s'", f->array_length,
-                   f->wire_offset+(const char *)_MAV_PAYLOAD(msg));
-        } else {
-            qDebug("[ ");
-            for (i=0; i<f->array_length; i++) {
-                print_one_field(msg, f, i);
-                if (i < f->array_length) {
-                    qDebug(", ");
-                }
-            }
-            qDebug("]");
-        }
-    }
-    qDebug(" ");
-}
-#endif
-static void print_message(const mavlink_message_t *msg)
-{
-#ifdef DEBUG_PRINT_MESSAGE
-    const mavlink_message_info_t *m = &message_info[msg->msgid];
-    const mavlink_field_info_t *f = m->fields;
-    unsigned i;
-    qDebug("%s { ", m->name);
-    for (i=0; i<m->num_fields; i++) {
-        print_field(msg, &f[i]);
-    }
-    qDebug("}\n");
-#else
-    Q_UNUSED(msg);
-#endif
-}
-void MAVLinkSimulationMAV::handleMessage(const mavlink_message_t& msg)
-{
-    if (msg.sysid != systemid)
-    {
-        print_message(&msg);
-//        qDebug() << "MAV:" << systemid << "RECEIVED MESSAGE FROM" << msg.sysid << "COMP" << msg.compid;
-    }
-    switch(msg.msgid) {
-    case MAVLINK_MSG_ID_ATTITUDE:
-        break;
-    case MAVLINK_MSG_ID_SET_MODE: {
-        mavlink_set_mode_t mode;
-        mavlink_msg_set_mode_decode(&msg, &mode);
-        if (systemid == mode.target_system) sys_mode = mode.base_mode;
-    }
-    break;
-    case MAVLINK_MSG_ID_HIL_STATE_QUATERNION:
-    {
-        mavlink_hil_state_quaternion_t state;
-        mavlink_msg_hil_state_quaternion_decode(&msg, &state);
-        double a = state.attitude_quaternion[0];
-        double b = state.attitude_quaternion[1];
-        double c = state.attitude_quaternion[2];
-        double d = state.attitude_quaternion[3];
-        double aSq = a * a;
-        double bSq = b * b;
-        double cSq = c * c;
-        double dSq = d * d;
-        float dcm[3][3];
-        dcm[0][0] = aSq + bSq - cSq - dSq;
-        dcm[0][1] = 2.0 * (b * c - a * d);
-        dcm[0][2] = 2.0 * (a * c + b * d);
-        dcm[1][0] = 2.0 * (b * c + a * d);
-        dcm[1][1] = aSq - bSq + cSq - dSq;
-        dcm[1][2] = 2.0 * (c * d - a * b);
-        dcm[2][0] = 2.0 * (b * d - a * c);
-        dcm[2][1] = 2.0 * (a * b + c * d);
-        dcm[2][2] = aSq - bSq - cSq + dSq;
-        float phi, theta, psi;
-        theta = asin(-dcm[2][0]);
-        if (fabs(theta - M_PI_2) < 1.0e-3f) {
-            phi = 0.0f;
-            psi = (atan2(dcm[1][2] - dcm[0][1],
-                    dcm[0][2] + dcm[1][1]) + phi);
-        } else if (fabs(theta + M_PI_2) < 1.0e-3f) {
-            phi = 0.0f;
-            psi = atan2f(dcm[1][2] - dcm[0][1],
-                      dcm[0][2] + dcm[1][1] - phi);
-        } else {
-            phi = atan2f(dcm[2][1], dcm[2][2]);
-            psi = atan2f(dcm[1][0], dcm[0][0]);
-        }
-        roll = phi;
-        pitch = theta;
-        yaw = psi;
-        rollspeed = state.rollspeed;
-        pitchspeed = state.pitchspeed;
-        yawspeed = state.yawspeed;
-        latitude = state.lat;
-        longitude = state.lon;
-        altitude = state.alt;
-    }
-    break;
-    // FIXME MAVLINKV10PORTINGNEEDED
-    //    case MAVLINK_MSG_ID_ACTION: {
-    //        mavlink_action_t action;
-    //        mavlink_msg_action_decode(&msg, &action);
-    //        if (systemid == action.target && (action.target_component == 0 || action.target_component == MAV_COMP_ID_IMU)) {
-    //            mavlink_action_ack_t ack;
-    //            ack.action = action.action;
-    ////            switch (action.action) {
-    ////            case MAV_ACTION_TAKEOFF:
-    ////                flying = true;
-    ////                nav_mode = MAV_NAV_LIFTOFF;
-    ////                ack.result = 1;
-    ////                break;
-    ////            default: {
-    ////                ack.result = 0;
-    ////            }
-    ////            break;
-    ////            }
-    //            // Give feedback about action
-    //            mavlink_message_t r_msg;
-    //            mavlink_msg_action_ack_encode(systemid, MAV_COMP_ID_IMU, &r_msg, &ack);
-    //            link->sendMAVLinkMessage(&r_msg);
-    //        }
-    //    }
-    break;
-    }
-}
--- a/src/comm/MAVLinkSimulationMAV.h
+++ b/src/comm/MAVLinkSimulationMAV.h
-#ifndef MAVLINKSIMULATIONMAV_H
-#define MAVLINKSIMULATIONMAV_H
-#include <QObject>
-#include <QTimer>
-#include "MAVLinkSimulationLink.h"
-#include "MAVLinkSimulationWaypointPlanner.h"
-class MAVLinkSimulationMAV : public QObject
-{
-    Q_OBJECT
-public:
-    explicit MAVLinkSimulationMAV(MAVLinkSimulationLink *parent, int systemid, double lat=47.376389, double lon=8.548056, int version=MAVLINK_VERSION);
-signals:
-public slots:
-    void mainloop();
-    void handleMessage(const mavlink_message_t& msg);
-protected:
-    MAVLinkSimulationLink* link;
-    MAVLinkSimulationWaypointPlanner planner;
-    int systemid;
-    QTimer mainloopTimer;
-    int timer25Hz;
-    int timer10Hz;
-    int timer1Hz;
-    double latitude;
-    double longitude;
-    double altitude;
-    double x;
-    double y;
-    double z;
-    double roll;
-    double pitch;
-    double yaw;
-    double rollspeed;
-    double pitchspeed;
-    double yawspeed;
-    bool globalNavigation;
-    bool firstWP;
-    double previousSPX;
-    double previousSPY;
-    double previousSPZ;
-    double previousSPYaw;
-    double nextSPX;
-    double nextSPY;
-    double nextSPZ;
-    double nextSPYaw;
-    uint8_t sys_mode;
-    uint8_t sys_state;
-    uint8_t nav_mode;
-    bool flying;
-    int mavlink_version;
-    // FIXME MAVLINKV10PORTINGNEEDED
-//    static inline uint16_t mavlink_msg_heartbeat_pack_version_free(uint8_t system_id, uint8_t component_id, mavlink_message_t* msg, uint8_t type, uint8_t autopilot, uint8_t version) {
-//        uint16_t i = 0;
-//        msg->msgid = MAVLINK_MSG_ID_HEARTBEAT;
-//        i += put_uint8_t_by_index(type, i, msg->payload); // Type of the MAV (quadrotor, helicopter, etc., up to 15 types, defined in MAV_TYPE ENUM)
-//        i += put_uint8_t_by_index(autopilot, i, msg->payload); // Type of the Autopilot: 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
-//        i += put_uint8_t_by_index(version, i, msg->payload); // MAVLink version
-//        return mavlink_finalize_message(msg, system_id, component_id, i);
-//    }
-};
-#endif // MAVLINKSIMULATIONMAV_H
--- a/src/comm/MAVLinkSimulationWaypointPlanner.cc
+++ b/src/comm/MAVLinkSimulationWaypointPlanner.cc
--- a/src/comm/MAVLinkSimulationWaypointPlanner.h
+++ b/src/comm/MAVLinkSimulationWaypointPlanner.h
-#ifndef MAVLINKSIMULATIONWAYPOINTPLANNER_H
-#define MAVLINKSIMULATIONWAYPOINTPLANNER_H
-#include <QObject>
-#include <vector>
-#include "MAVLinkSimulationLink.h"
-#include "QGCMAVLink.h"
-enum PX_WAYPOINTPLANNER_STATES {
-    PX_WPP_IDLE = 0,
-    PX_WPP_SENDLIST,
-    PX_WPP_SENDLIST_SENDWPS,
-    PX_WPP_GETLIST,
-    PX_WPP_GETLIST_GETWPS,
-    PX_WPP_GETLIST_GOTALL
-};
-class MAVLinkSimulationWaypointPlanner : public QObject
-{
-    Q_OBJECT
-public:
-    explicit MAVLinkSimulationWaypointPlanner(MAVLinkSimulationLink *parent, int systemid);
-signals:
-    void messageSent(const mavlink_message_t& msg);
-public slots:
-    void handleMessage(const mavlink_message_t& msg);
-protected:
-    MAVLinkSimulationLink* link;
-    bool idle;      				///< indicates if the system is following the waypoints or is waiting
-    uint16_t current_active_wp_id;		///< id of current waypoint
-    bool yawReached;						///< boolean for yaw attitude reached
-    bool posReached;						///< boolean for position reached
-    uint64_t timestamp_lastoutside_orbit;///< timestamp when the MAV was last outside the orbit or had the wrong yaw value
-    uint64_t timestamp_firstinside_orbit;///< timestamp when the MAV was the first time after a waypoint change inside the orbit and had the correct yaw value
-    std::vector<mavlink_mission_item_t*> waypoints1;	///< vector1 that holds the waypoints
-    std::vector<mavlink_mission_item_t*> waypoints2;	///< vector2 that holds the waypoints
-    std::vector<mavlink_mission_item_t*>* waypoints;		///< pointer to the currently active waypoint vector
-    std::vector<mavlink_mission_item_t*>* waypoints_receive_buffer;	///< pointer to the receive buffer waypoint vector
-    PX_WAYPOINTPLANNER_STATES current_state;
-    uint16_t protocol_current_wp_id;
-    uint16_t protocol_current_count;
-    uint8_t protocol_current_partner_systemid;
-    uint8_t protocol_current_partner_compid;
-    uint64_t protocol_timestamp_lastaction;
-    unsigned int protocol_timeout;
-    uint64_t timestamp_last_send_setpoint;
-    uint8_t systemid;
-    uint8_t compid;
-    unsigned int setpointDelay;
-    float yawTolerance;
-    bool verbose;
-    bool debug;
-    bool silent;
-    void send_waypoint_ack(uint8_t target_systemid, uint8_t target_compid, uint8_t type);
-    void send_waypoint_current(uint16_t seq);
-    void send_setpoint(uint16_t seq);
-    void send_waypoint_count(uint8_t target_systemid, uint8_t target_compid, uint16_t count);
-    void send_waypoint(uint8_t target_systemid, uint8_t target_compid, uint16_t seq);
-    void send_waypoint_request(uint8_t target_systemid, uint8_t target_compid, uint16_t seq);
-    void send_waypoint_reached(uint16_t seq);
-    float distanceToSegment(uint16_t seq, float x, float y, float z);
-    float distanceToPoint(uint16_t seq, float x, float y, float z);
-    float distanceToPoint(uint16_t seq, float x, float y);
-    void mavlink_handler(const mavlink_message_t* msg);
-};
-#endif // MAVLINKSIMULATIONWAYPOINTPLANNER_H
--- a/src/comm/MAVLinkSwarmSimulationLink.cc
+++ b/src/comm/MAVLinkSwarmSimulationLink.cc
-#include "MAVLinkSwarmSimulationLink.h"
-MAVLinkSwarmSimulationLink::MAVLinkSwarmSimulationLink(QString readFile, QString writeFile, int rate) :
-    MAVLinkSimulationLink(readFile, writeFile, rate)
-{
-}
-void MAVLinkSwarmSimulationLink::mainloop()
-{
-}
--- a/src/comm/MAVLinkSwarmSimulationLink.h
+++ b/src/comm/MAVLinkSwarmSimulationLink.h
-#ifndef MAVLINKSWARMSIMULATIONLINK_H
-#define MAVLINKSWARMSIMULATIONLINK_H
-#include "MAVLinkSimulationLink.h"
-class MAVLinkSwarmSimulationLink : public MAVLinkSimulationLink
-{
-    Q_OBJECT
-public:
-    MAVLinkSwarmSimulationLink(QString readFile="", QString writeFile="", int rate=5);
-signals:
-public slots:
-    void mainloop();
-};
-#endif // MAVLINKSWARMSIMULATIONLINK_H
--- a/src/comm/MockLinkMissionItemHandler.h
+++ b/src/comm/MockLinkMissionItemHandler.h
@@ -29,7 +29,6 @@
 #include <QObject>
 #include <vector>
-#include "MAVLinkSimulationLink.h"
 #include "QGCMAVLink.h"
 /* Alreedy defined in MAVLinkSimulationLink.h above!

--- a/src/ui/MainWindow.cc
+++ b/src/ui/MainWindow.cc
@@ -40,7 +40,6 @@ This file is part of the QGROUNDCONTROL project
 #include <QDesktopWidget>
 #include "QGC.h"
-#include "MAVLinkSimulationLink.h"
 #include "SerialLink.h"
 #include "MAVLinkProtocol.h"
 #include "QGCWaypointListMulti.h"
@@ -149,7 +148,6 @@ MainWindow::MainWindow(QSplashScreen* splashScreen)
    , _lowPowerMode(false)
    , _showStatusBar(false)
    , _centerStackActionGroup(new QActionGroup(this))
-    , _simulationLink(NULL)
    , _centralLayout(NULL)
    , _currentViewWidget(NULL)
    , _splashScreen(splashScreen)
@@ -346,11 +344,6 @@ MainWindow::MainWindow(QSplashScreen* splashScreen)
 MainWindow::~MainWindow()
 {
-    if (_simulationLink)
-    {
-        delete _simulationLink;
-        _simulationLink = NULL;
-    }
 #ifndef __android__
    if (joystick)
    {
@@ -857,8 +850,6 @@ void MainWindow::connectCommonActions()
    // Application Settings
    connect(_ui.actionSettings, SIGNAL(triggered()), this, SLOT(showSettings()));
-    connect(_ui.actionSimulate, SIGNAL(triggered(bool)), this, SLOT(simulateLink(bool)));
    // Update Tool Bar
    _mainToolBar->setCurrentView(_currentView);
 }
@@ -904,19 +895,6 @@ void MainWindow::showSettings()
    settings.exec();
 }
-void MainWindow::simulateLink(bool simulate) {
-    if (simulate) {
-        if (!_simulationLink) {
-            _simulationLink = new MAVLinkSimulationLink(":/demo-log.txt");
-            Q_CHECK_PTR(_simulationLink);
-        }
-        LinkManager::instance()->connectLink(_simulationLink);
-    } else {
-        Q_ASSERT(_simulationLink);
-        LinkManager::instance()->disconnectLink(_simulationLink);
-    }
-}
 void MainWindow::commsWidgetDestroyed(QObject *obj)
 {
    // Do not dynamic cast or de-reference QObject, since object is either in destructor or may have already

--- a/src/ui/MainWindow.h
+++ b/src/ui/MainWindow.h
@@ -47,7 +47,6 @@ This file is part of the QGROUNDCONTROL project
 #include "WaypointList.h"
 #include "CameraView.h"
 #include "UASListWidget.h"
-#include "MAVLinkSimulationLink.h"
 #ifndef __android__
 #include "input/JoystickInput.h"
 #endif
@@ -145,8 +144,6 @@ public:
 public slots:
    /** @brief Show the application settings */
    void showSettings();
-    /** @brief Simulate a link */
-    void simulateLink(bool simulate);
    /** @brief Add a new UAS */
    void UASCreated(UASInterface* uas);
@@ -292,7 +289,6 @@ protected:
    QAction* returnUASAct;
    QAction* stopUASAct;
    QAction* killUASAct;
-    QAction* simulateUASAct;
    LogCompressor* comp;
@@ -366,7 +362,6 @@ private:
    bool                    _lowPowerMode;           ///< If enabled, QGC reduces the update rates of all widgets
    bool                    _showStatusBar;
    QActionGroup*           _centerStackActionGroup;
-    MAVLinkSimulationLink*  _simulationLink;
    QVBoxLayout*            _centralLayout;
    QList<QObject*>         _commsWidgetList;
    QWidget*                _currentViewWidget;     ///< Currently displayed view widget

--- a/src/ui/MainWindow.ui
+++ b/src/ui/MainWindow.ui
@@ -101,7 +101,6 @@
    <addaction name="actionTerminalView"/>
    <addaction name="actionSimulationView"/>
    <addaction name="separator"/>
-    <addaction name="actionSimulate"/>
    <addaction name="separator"/>
    <addaction name="menuTools"/>
   </widget>
@@ -170,17 +169,6 @@
    <string>Manage Communication Links</string>
   </property>
  </action>
-  <action name="actionSimulate">
-   <property name="checkable">
-    <bool>true</bool>
-   </property>
-   <property name="text">
-    <string>Simulate</string>
-   </property>
-   <property name="toolTip">
-    <string>Simulate one vehicle to test and evaluate this application</string>
-   </property>
-  </action>
  <action name="actionOnline_Documentation">
   <property name="text">
    <string>Online Documentation</string>

--- a/src/ui/QGCMAVLinkLogPlayer.cc
+++ b/src/ui/QGCMAVLinkLogPlayer.cc
@@ -317,7 +317,8 @@ bool QGCMAVLinkLogPlayer::loadLogFile(const QString& file)
    if (logLink) {
        LinkManager::instance()->_deleteLink(logLink);
    }
-    logLink = new MAVLinkSimulationLink("");
+    logLink = new MockLink();
+    LinkManager::instance()->_addLink(logLink);
    // Select if binary or MAVLink log format is used
    mavlinkLogFormat = file.endsWith(".mavlink");

--- a/src/ui/QGCMAVLinkLogPlayer.h
+++ b/src/ui/QGCMAVLinkLogPlayer.h
@@ -6,7 +6,7 @@
 #include "MAVLinkProtocol.h"
 #include "LinkInterface.h"
-#include "MAVLinkSimulationLink.h"
+#include "MockLink.h"
 namespace Ui
 {
@@ -67,7 +67,7 @@ protected:
    quint64 logEndTime;            ///< The last timestamp in the current log file. In units of microseconds since epoch UTC.
    float accelerationFactor;
    MAVLinkProtocol* mavlink;
-    MAVLinkSimulationLink* logLink;
+    MockLink* logLink;
    QFile logFile;
    QTimer loopTimer;
    int loopCounter;

--- a/src/ui/uas/QGCUnconnectedInfoWidget.cc
+++ b/src/ui/uas/QGCUnconnectedInfoWidget.cc
 #include "QGCUnconnectedInfoWidget.h"
 #include "LinkInterface.h"
 #include "LinkManager.h"
-#include "MAVLinkSimulationLink.h"
 #include "MainWindow.h"
 #include "ui_QGCUnconnectedInfoWidget.h"
@@ -24,15 +23,6 @@ QGCUnconnectedInfoWidget::~QGCUnconnectedInfoWidget()
 */
 void QGCUnconnectedInfoWidget::simulate()
 {
-    // TODO What is this?
-    // Try to get reference to MAVLinkSimulationlink
-    QList<LinkInterface*> links = LinkManager::instance()->getLinks();
-    foreach(LinkInterface* link, links) {
-        MAVLinkSimulationLink* sim = dynamic_cast<MAVLinkSimulationLink*>(link);
-        if (sim) {
-            LinkManager::instance()->connectLink(sim);
-        }
-    }
 }
 /**

--- a/src/ui/uas/UASListWidget.cc
+++ b/src/ui/uas/UASListWidget.cc
@@ -41,7 +41,6 @@ This file is part of the PIXHAWK project
 #include "UASView.h"
 #include "QGCUnconnectedInfoWidget.h"
 #include "MainWindow.h"
-#include "MAVLinkSimulationLink.h"
 #include "LinkManager.h"
 UASListWidget::UASListWidget(QWidget *parent) : QWidget(parent),