Vehicle.cc

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

 QGroundControl Open Source Ground Control Station

 (c) 2009 - 2014 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/>.

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

#include "Vehicle.h"
#include "MAVLinkProtocol.h"
#include "FirmwarePluginManager.h"
#include "LinkManager.h"
#include "FirmwarePlugin.h"
#include "AutoPilotPluginManager.h"
#include "UAS.h"
#include "JoystickManager.h"
#include "MissionManager.h"
#include "CoordinateVector.h"
#include "ParameterLoader.h"
#include "QGCApplication.h"
#include "QGCImageProvider.h"

QGC_LOGGING_CATEGORY(VehicleLog, "VehicleLog")

#define UPDATE_TIMER 50
#define DEFAULT_LAT  38.965767f
#define DEFAULT_LON -120.083923f

const char* Vehicle::_settingsGroup =               "Vehicle%1";        // %1 replaced with mavlink system id
const char* Vehicle::_joystickModeSettingsKey =     "JoystickMode";
const char* Vehicle::_joystickEnabledSettingsKey =  "JoystickEnabled";

Vehicle::Vehicle(LinkInterface*             link,
                 int                        vehicleId,
                 MAV_AUTOPILOT              firmwareType,
                 MAV_TYPE                   vehicleType,
                 FirmwarePluginManager*     firmwarePluginManager,
                 AutoPilotPluginManager*    autopilotPluginManager,
                 JoystickManager*           joystickManager)
    : _id(vehicleId)
    , _active(false)
    , _firmwareType(firmwareType)
    , _vehicleType(vehicleType)
    , _firmwarePlugin(NULL)
    , _autopilotPlugin(NULL)
    , _joystickMode(JoystickModeRC)
    , _joystickEnabled(false)
    , _uas(NULL)
    , _coordinate(37.803784, -122.462276)
    , _coordinateValid(false)
    , _homePositionAvailable(false)
    , _mav(NULL)
    , _currentMessageCount(0)
    , _messageCount(0)
    , _currentErrorCount(0)
    , _currentWarningCount(0)
    , _currentNormalCount(0)
    , _currentMessageType(MessageNone)
    , _roll(0.0f)
    , _pitch(0.0f)
    , _heading(0.0f)
    , _altitudeAMSL(0.0f)
    , _altitudeWGS84(0.0f)
    , _altitudeRelative(0.0f)
    , _groundSpeed(0.0f)
    , _airSpeed(0.0f)
    , _climbRate(0.0f)
    , _navigationAltitudeError(0.0f)
    , _navigationSpeedError(0.0f)
    , _navigationCrosstrackError(0.0f)
    , _navigationTargetBearing(0.0f)
    , _refreshTimer(new QTimer(this))
    , _batteryVoltage(-1.0f)
    , _batteryPercent(0.0)
    , _batteryConsumed(-1.0)
    , _currentHeartbeatTimeout(0)
    , _satelliteCount(-1)
    , _satRawHDOP(1e10f)
    , _satRawVDOP(1e10f)
    , _satRawCOG(0.0)
    , _satelliteLock(0)
    , _updateCount(0)
    , _rcRSSI(0)
    , _rcRSSIstore(100.0)
    , _missionManager(NULL)
    , _missionManagerInitialRequestComplete(false)
    , _parameterLoader(NULL)
    , _armed(false)
    , _base_mode(0)
    , _custom_mode(0)
    , _nextSendMessageMultipleIndex(0)
    , _firmwarePluginManager(firmwarePluginManager)
    , _autopilotPluginManager(autopilotPluginManager)
    , _joystickManager(joystickManager)
    , _flowImageIndex(0)
    , _allLinksInactiveSent(false)
{
    _addLink(link);

    _mavlink = qgcApp()->toolbox()->mavlinkProtocol();

    connect(_mavlink, &MAVLinkProtocol::messageReceived,     this, &Vehicle::_mavlinkMessageReceived);
    connect(this, &Vehicle::_sendMessageOnThread, this, &Vehicle::_sendMessage, Qt::QueuedConnection);
    connect(this, &Vehicle::_sendMessageOnLinkOnThread, this, &Vehicle::_sendMessageOnLink, Qt::QueuedConnection);

    _uas = new UAS(_mavlink, this, _firmwarePluginManager);

    setLatitude(_uas->getLatitude());
    setLongitude(_uas->getLongitude());

    connect(_uas, &UAS::latitudeChanged,                this, &Vehicle::setLatitude);
    connect(_uas, &UAS::longitudeChanged,               this, &Vehicle::setLongitude);
    connect(_uas, &UAS::imageReady,                     this, &Vehicle::_imageReady);
    connect(this, &Vehicle::remoteControlRSSIChanged,   this, &Vehicle::_remoteControlRSSIChanged);

    _firmwarePlugin     = _firmwarePluginManager->firmwarePluginForAutopilot(_firmwareType, _vehicleType);
    _autopilotPlugin    = _autopilotPluginManager->newAutopilotPluginForVehicle(this);

    connect(_autopilotPlugin, &AutoPilotPlugin::parametersReadyChanged,     this, &Vehicle::_parametersReady);
    connect(_autopilotPlugin, &AutoPilotPlugin::missingParametersChanged,   this, &Vehicle::missingParametersChanged);

    // Refresh timer
    connect(_refreshTimer, &QTimer::timeout, this, &Vehicle::_checkUpdate);
    _refreshTimer->setInterval(UPDATE_TIMER);
    _refreshTimer->start(UPDATE_TIMER);
    emit heartbeatTimeoutChanged();

    _mav = uas();
    // Reset satellite data (no GPS)
    _satelliteCount = -1;
    _satRawHDOP     = 1e10f;
    _satRawVDOP     = 1e10f;
    _satRawCOG      = 0.0;
    emit satRawHDOPChanged();
    emit satRawVDOPChanged();
    emit satRawCOGChanged();
    emit satelliteCountChanged();

    // Reset connection lost (if any)
    _currentHeartbeatTimeout = 0;
    emit heartbeatTimeoutChanged();
    // Listen for system messages
    connect(qgcApp()->toolbox()->uasMessageHandler(), &UASMessageHandler::textMessageCountChanged,  this, &Vehicle::_handleTextMessage);
    connect(qgcApp()->toolbox()->uasMessageHandler(), &UASMessageHandler::textMessageReceived,      this, &Vehicle::_handletextMessageReceived);
    // Now connect the new UAS
    connect(_mav, SIGNAL(attitudeChanged                    (UASInterface*,double,double,double,quint64)),              this, SLOT(_updateAttitude(UASInterface*, double, double, double, quint64)));
    connect(_mav, SIGNAL(attitudeChanged                    (UASInterface*,int,double,double,double,quint64)),          this, SLOT(_updateAttitude(UASInterface*,int,double, double, double, quint64)));
    connect(_mav, SIGNAL(statusChanged                      (UASInterface*,QString,QString)),                           this, SLOT(_updateState(UASInterface*, QString,QString)));

    connect(_mav, &UASInterface::speedChanged, this, &Vehicle::_updateSpeed);
    connect(_mav, &UASInterface::altitudeChanged, this, &Vehicle::_updateAltitude);
    connect(_mav, &UASInterface::navigationControllerErrorsChanged,this, &Vehicle::_updateNavigationControllerErrors);
    connect(_mav, &UASInterface::NavigationControllerDataChanged,   this, &Vehicle::_updateNavigationControllerData);
    connect(_mav, &UASInterface::heartbeatTimeout,                  this, &Vehicle::_heartbeatTimeout);
    connect(_mav, &UASInterface::batteryChanged,                    this, &Vehicle::_updateBatteryRemaining);
    connect(_mav, &UASInterface::batteryConsumedChanged,            this, &Vehicle::_updateBatteryConsumedChanged);
    connect(_mav, &UASInterface::localizationChanged,               this, &Vehicle::_setSatLoc);
    UAS* pUas = dynamic_cast<UAS*>(_mav);
    if(pUas) {
        _setSatelliteCount(pUas->getSatelliteCount(), QString(""));
        connect(pUas, &UAS::satelliteCountChanged,  this, &Vehicle::_setSatelliteCount);
        connect(pUas, &UAS::satRawHDOPChanged,      this, &Vehicle::_setSatRawHDOP);
        connect(pUas, &UAS::satRawVDOPChanged,      this, &Vehicle::_setSatRawVDOP);
        connect(pUas, &UAS::satRawCOGChanged,       this, &Vehicle::_setSatRawCOG);
    }

    _loadSettings();

    _missionManager = new MissionManager(this);
    connect(_missionManager, &MissionManager::error, this, &Vehicle::_missionManagerError);

    _parameterLoader = new ParameterLoader(_autopilotPlugin, this /* Vehicle */, this /* parent */);
    connect(_parameterLoader, &ParameterLoader::parametersReady, _autopilotPlugin, &AutoPilotPlugin::_parametersReadyPreChecks);
    connect(_parameterLoader, &ParameterLoader::parameterListProgress, _autopilotPlugin, &AutoPilotPlugin::parameterListProgress);

    _firmwarePlugin->initializeVehicle(this);

    _sendMultipleTimer.start(_sendMessageMultipleIntraMessageDelay);
    connect(&_sendMultipleTimer, &QTimer::timeout, this, &Vehicle::_sendMessageMultipleNext);

    _mapTrajectoryTimer.setInterval(_mapTrajectoryMsecsBetweenPoints);
    connect(&_mapTrajectoryTimer, &QTimer::timeout, this, &Vehicle::_addNewMapTrajectoryPoint);
}

Vehicle::~Vehicle()
{
    qCDebug(VehicleLog) << "~Vehicle" << this;

    delete _missionManager;
    _missionManager = NULL;

    delete _autopilotPlugin;
    _autopilotPlugin = NULL;

    delete _mav;
    _mav = NULL;

}

void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message)
{
    if (message.sysid != _id && message.sysid != 0) {
        return;
    }

    if (!_containsLink(link)) {
        _addLink(link);
    }

    // Give the plugin a change to adjust the message contents
    _firmwarePlugin->adjustMavlinkMessage(this, &message);

    switch (message.msgid) {
    case MAVLINK_MSG_ID_HOME_POSITION:
        _handleHomePosition(message);
        break;
    case MAVLINK_MSG_ID_HEARTBEAT:
        _handleHeartbeat(message);
        break;
    case MAVLINK_MSG_ID_RC_CHANNELS:
        _handleRCChannels(message);
        break;
    case MAVLINK_MSG_ID_RC_CHANNELS_RAW:
        _handleRCChannelsRaw(message);
        break;
    case MAVLINK_MSG_ID_RAW_IMU:
        emit mavlinkRawImu(message);
        break;
    case MAVLINK_MSG_ID_SCALED_IMU:
        emit mavlinkScaledImu1(message);
        break;
    case MAVLINK_MSG_ID_SCALED_IMU2:
        emit mavlinkScaledImu2(message);
        break;
    case MAVLINK_MSG_ID_SCALED_IMU3:
        emit mavlinkScaledImu3(message);
        break;
    }

    emit mavlinkMessageReceived(message);

    _uas->receiveMessage(message);
}

void Vehicle::_handleHomePosition(mavlink_message_t& message)
{
    bool emitHomePositionChanged =          false;
    bool emitHomePositionAvailableChanged = false;

    mavlink_home_position_t homePos;

    mavlink_msg_home_position_decode(&message, &homePos);

    QGeoCoordinate newHomePosition (homePos.latitude / 10000000.0,
                                    homePos.longitude / 10000000.0,
                                    homePos.altitude / 1000.0);
    if (!_homePositionAvailable || newHomePosition != _homePosition) {
        emitHomePositionChanged = true;
        _homePosition = newHomePosition;
    }

    if (!_homePositionAvailable) {
        emitHomePositionAvailableChanged = true;
        _homePositionAvailable = true;
    }

    if (emitHomePositionChanged) {
        qCDebug(VehicleLog) << "New home position" << newHomePosition;
        emit homePositionChanged(_homePosition);
    }
    if (emitHomePositionAvailableChanged) {
        emit homePositionAvailableChanged(true);
    }
}

void Vehicle::_handleHeartbeat(mavlink_message_t& message)
{
    mavlink_heartbeat_t heartbeat;

    mavlink_msg_heartbeat_decode(&message, &heartbeat);

    bool newArmed = heartbeat.base_mode & MAV_MODE_FLAG_DECODE_POSITION_SAFETY;

    if (_armed != newArmed) {
        _armed = newArmed;
        emit armedChanged(_armed);

        // We are transitioning to the armed state, begin tracking trajectory points for the map
        if (_armed) {
            _mapTrajectoryStart();
        } else {
            _mapTrajectoryStop();
        }
    }

    if (heartbeat.base_mode != _base_mode || heartbeat.custom_mode != _custom_mode) {
        _base_mode = heartbeat.base_mode;
        _custom_mode = heartbeat.custom_mode;
        emit flightModeChanged(flightMode());
    }
}

void Vehicle::_handleRCChannels(mavlink_message_t& message)
{
    mavlink_rc_channels_t channels;

    mavlink_msg_rc_channels_decode(&message, &channels);

    uint16_t* _rgChannelvalues[cMaxRcChannels] = {
        &channels.chan1_raw,
        &channels.chan2_raw,
        &channels.chan3_raw,
        &channels.chan4_raw,
        &channels.chan5_raw,
        &channels.chan6_raw,
        &channels.chan7_raw,
        &channels.chan8_raw,
        &channels.chan9_raw,
        &channels.chan10_raw,
        &channels.chan11_raw,
        &channels.chan12_raw,
        &channels.chan13_raw,
        &channels.chan14_raw,
        &channels.chan15_raw,
        &channels.chan16_raw,
        &channels.chan17_raw,
        &channels.chan18_raw,
    };
    int pwmValues[cMaxRcChannels];

    for (int i=0; i<cMaxRcChannels; i++) {
        uint16_t channelValue = *_rgChannelvalues[i];

        if (i < channels.chancount) {
            pwmValues[i] = channelValue == UINT16_MAX ? -1 : channelValue;
        } else {
            pwmValues[i] = -1;
        }
    }

    emit remoteControlRSSIChanged(channels.rssi);
    emit rcChannelsChanged(channels.chancount, pwmValues);
}

void Vehicle::_handleRCChannelsRaw(mavlink_message_t& message)
{
    // We handle both RC_CHANNLES and RC_CHANNELS_RAW since different firmware will only
    // send one or the other.

    mavlink_rc_channels_raw_t channels;

    mavlink_msg_rc_channels_raw_decode(&message, &channels);

    uint16_t* _rgChannelvalues[cMaxRcChannels] = {
        &channels.chan1_raw,
        &channels.chan2_raw,
        &channels.chan3_raw,
        &channels.chan4_raw,
        &channels.chan5_raw,
        &channels.chan6_raw,
        &channels.chan7_raw,
        &channels.chan8_raw,
    };

    int pwmValues[cMaxRcChannels];
    int channelCount = 0;

    for (int i=0; i<cMaxRcChannels; i++) {
        pwmValues[i] = -1;
    }

    for (int i=0; i<8; i++) {
        uint16_t channelValue = *_rgChannelvalues[i];

        if (channelValue == UINT16_MAX) {
            pwmValues[i] = -1;
        } else {
            channelCount = i + 1;
            pwmValues[i] = channelValue;
        }
    }
    for (int i=9; i<18; i++) {
        pwmValues[i] = -1;
    }

    emit remoteControlRSSIChanged(channels.rssi);
    emit rcChannelsChanged(channelCount, pwmValues);
}

bool Vehicle::_containsLink(LinkInterface* link)
{
    return _links.contains(link);
}

void Vehicle::_addLink(LinkInterface* link)
{
    if (!_containsLink(link)) {
        _links += link;
        qCDebug(VehicleLog) << "_addLink:" << QString("%1").arg((ulong)link, 0, 16);
        connect(qgcApp()->toolbox()->linkManager(), &LinkManager::linkInactive, this, &Vehicle::_linkInactiveOrDeleted);
        connect(qgcApp()->toolbox()->linkManager(), &LinkManager::linkDeleted, this, &Vehicle::_linkInactiveOrDeleted);
    }
}

void Vehicle::_linkInactiveOrDeleted(LinkInterface* link)
{
    qCDebug(VehicleLog) << "_linkInactiveOrDeleted linkCount" << _links.count();

    _links.removeOne(link);

    if (_links.count() == 0 && !_allLinksInactiveSent) {
        qCDebug(VehicleLog) << "All links inactive";
        // Make sure to not send this more than one time
        _allLinksInactiveSent = true;
        emit allLinksInactive(this);
    }
}

void Vehicle::sendMessage(mavlink_message_t message)
{
    emit _sendMessageOnThread(message);
}

bool Vehicle::sendMessageOnLink(LinkInterface* link, mavlink_message_t message)
{
    if (!link || !_links.contains(link) || !link->isConnected()) {
        return false;
    }

    emit _sendMessageOnLinkOnThread(link, message);

    return true;
}

void Vehicle::_sendMessageOnLink(LinkInterface* link, mavlink_message_t message)
{
    // Give the plugin a chance to adjust
    _firmwarePlugin->adjustMavlinkMessage(this, &message);

    static const uint8_t messageKeys[256] = MAVLINK_MESSAGE_CRCS;
    mavlink_finalize_message_chan(&message, _mavlink->getSystemId(), _mavlink->getComponentId(), link->getMavlinkChannel(), message.len, messageKeys[message.msgid]);

    // Write message into buffer, prepending start sign
    uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
    int len = mavlink_msg_to_send_buffer(buffer, &message);

    link->writeBytes((const char*)buffer, len);
}

void Vehicle::_sendMessage(mavlink_message_t message)
{
    // Emit message on all links that are currently connected
    foreach (LinkInterface* link, _links) {
        if (link->isConnected()) {
            _sendMessageOnLink(link, message);
        }
    }
}

/// @return Direct usb connection link to board if one, NULL if none
LinkInterface* Vehicle::priorityLink(void)
{
    foreach (LinkInterface* link, _links) {
        if (link->isConnected()) {
            SerialLink* pSerialLink = qobject_cast<SerialLink*>(link);
            if (pSerialLink) {
                LinkConfiguration* pLinkConfig = pSerialLink->getLinkConfiguration();
                if (pLinkConfig) {
                    SerialConfiguration* pSerialConfig = qobject_cast<SerialConfiguration*>(pLinkConfig);
                    if (pSerialConfig && pSerialConfig->usbDirect()) {
                        return link;
                    }
                }
            }
        }
    }

    return _links.count() ? _links[0] : NULL;
}

void Vehicle::setLatitude(double latitude)
{
    _coordinate.setLatitude(latitude);
    emit coordinateChanged(_coordinate);
}

void Vehicle::setLongitude(double longitude){
    _coordinate.setLongitude(longitude);
    emit coordinateChanged(_coordinate);
}

void Vehicle::_updateAttitude(UASInterface*, double roll, double pitch, double yaw, quint64)
{
    if (isinf(roll)) {
        _roll = std::numeric_limits<double>::quiet_NaN();
    } else {
        float rolldeg = _oneDecimal(roll * (180.0 / M_PI));
        if (fabs(roll - rolldeg) > 0.25) {
            _roll = rolldeg;
            if(_refreshTimer->isActive()) {
                emit rollChanged();
            }
        }
        if(_roll != rolldeg) {
            _roll = rolldeg;
            _addChange(ROLL_CHANGED);
        }
    }
    if (isinf(pitch)) {
        _pitch = std::numeric_limits<double>::quiet_NaN();
    } else {
        float pitchdeg = _oneDecimal(pitch * (180.0 / M_PI));
        if (fabs(pitch - pitchdeg) > 0.25) {
            _pitch = pitchdeg;
            if(_refreshTimer->isActive()) {
                emit pitchChanged();
            }
        }
        if(_pitch != pitchdeg) {
            _pitch = pitchdeg;
            _addChange(PITCH_CHANGED);
        }
    }
    if (isinf(yaw)) {
        _heading = std::numeric_limits<double>::quiet_NaN();
    } else {
        yaw = _oneDecimal(yaw * (180.0 / M_PI));
        if (yaw < 0) yaw += 360;
        if (fabs(_heading - yaw) > 0.25) {
            _heading = yaw;
            if(_refreshTimer->isActive()) {
                emit headingChanged();
            }
        }
        if(_heading != yaw) {
            _heading = yaw;
            _addChange(HEADING_CHANGED);
        }
    }
}

void Vehicle::_updateAttitude(UASInterface* uas, int, double roll, double pitch, double yaw, quint64 timestamp)
{
    _updateAttitude(uas, roll, pitch, yaw, timestamp);
}

void Vehicle::_updateSpeed(UASInterface*, double groundSpeed, double airSpeed, quint64)
{
    groundSpeed = _oneDecimal(groundSpeed);
    if (fabs(_groundSpeed - groundSpeed) > 0.5) {
        _groundSpeed = groundSpeed;
        if(_refreshTimer->isActive()) {
            emit groundSpeedChanged();
        }
    }
    airSpeed = _oneDecimal(airSpeed);
    if (fabs(_airSpeed - airSpeed) > 0.5) {
        _airSpeed = airSpeed;
        if(_refreshTimer->isActive()) {
            emit airSpeedChanged();
        }
    }
    if(_groundSpeed != groundSpeed) {
        _groundSpeed = groundSpeed;
        _addChange(GROUNDSPEED_CHANGED);
    }
    if(_airSpeed != airSpeed) {
        _airSpeed = airSpeed;
        _addChange(AIRSPEED_CHANGED);
    }
}

void Vehicle::_updateAltitude(UASInterface*, double altitudeAMSL, double altitudeWGS84, double altitudeRelative, double climbRate, quint64) {
    altitudeAMSL = _oneDecimal(altitudeAMSL);
    if (fabs(_altitudeAMSL - altitudeAMSL) > 0.5) {
        _altitudeAMSL = altitudeAMSL;
        if(_refreshTimer->isActive()) {
            emit altitudeAMSLChanged();
        }
    }
    altitudeWGS84 = _oneDecimal(altitudeWGS84);
    if (fabs(_altitudeWGS84 - altitudeWGS84) > 0.5) {
        _altitudeWGS84 = altitudeWGS84;
        if(_refreshTimer->isActive()) {
            emit altitudeWGS84Changed();
        }
    }
    altitudeRelative = _oneDecimal(altitudeRelative);
    if (fabs(_altitudeRelative - altitudeRelative) > 0.5) {
        _altitudeRelative = altitudeRelative;
        if(_refreshTimer->isActive()) {
            emit altitudeRelativeChanged();
        }
    }
    climbRate = _oneDecimal(climbRate);
    if (fabs(_climbRate - climbRate) > 0.5) {
        _climbRate = climbRate;
        if(_refreshTimer->isActive()) {
            emit climbRateChanged();
        }
    }
    if(_altitudeAMSL != altitudeAMSL) {
        _altitudeAMSL = altitudeAMSL;
        _addChange(ALTITUDEAMSL_CHANGED);
    }
    if(_altitudeWGS84 != altitudeWGS84) {
        _altitudeWGS84 = altitudeWGS84;
        _addChange(ALTITUDEWGS84_CHANGED);
    }
    if(_altitudeRelative != altitudeRelative) {
        _altitudeRelative = altitudeRelative;
        _addChange(ALTITUDERELATIVE_CHANGED);
    }
    if(_climbRate != climbRate) {
        _climbRate = climbRate;
        _addChange(CLIMBRATE_CHANGED);
    }
}

void Vehicle::_updateNavigationControllerErrors(UASInterface*, double altitudeError, double speedError, double xtrackError) {
    _navigationAltitudeError   = altitudeError;
    _navigationSpeedError      = speedError;
    _navigationCrosstrackError = xtrackError;
}

void Vehicle::_updateNavigationControllerData(UASInterface *uas, float, float, float, float targetBearing, float) {
    if (_mav == uas) {
        _navigationTargetBearing = targetBearing;
    }
}

/*
 * Internal
 */

void Vehicle::_addChange(int id)
{
    if(!_changes.contains(id)) {
        _changes.append(id);
    }
}

float Vehicle::_oneDecimal(float value)
{
    int i = (value * 10);
    return (float)i / 10.0;
}

void Vehicle::_checkUpdate()
{
    // Update current location
    if(_mav) {
        if(latitude() != _mav->getLatitude()) {
            setLatitude(_mav->getLatitude());
        }
        if(longitude() != _mav->getLongitude()) {
            setLongitude(_mav->getLongitude());
        }
    }
    // The timer rate is 20Hz for the coordinates above. These below we only check
    // twice a second.
    if(++_updateCount > 9) {
        _updateCount = 0;
        // Check for changes
        // Significant changes, that is, whole number changes, are updated immediatelly.
        // For every message however, we set a flag for what changed and this timer updates
        // them to bring everything up-to-date. This prevents an avalanche of UI updates.
        foreach(int i, _changes) {
            switch (i) {
                case ROLL_CHANGED:
                    emit rollChanged();
                    break;
                case PITCH_CHANGED:
                    emit pitchChanged();
                    break;
                case HEADING_CHANGED:
                    emit headingChanged();
                    break;
                case GROUNDSPEED_CHANGED:
                    emit groundSpeedChanged();
                    break;
                case AIRSPEED_CHANGED:
                    emit airSpeedChanged();
                    break;
                case CLIMBRATE_CHANGED:
                    emit climbRateChanged();
                    break;
                case ALTITUDERELATIVE_CHANGED:
                    emit altitudeRelativeChanged();
                    break;
                case ALTITUDEWGS84_CHANGED:
                    emit altitudeWGS84Changed();
                    break;
                case ALTITUDEAMSL_CHANGED:
                    emit altitudeAMSLChanged();
                    break;
                default:
                    break;
            }
        }
        _changes.clear();
    }
}

QString Vehicle::getMavIconColor()
{
    // TODO: Not using because not only the colors are ghastly, it doesn't respect dark/light palette
    if(_mav)
        return _mav->getColor().name();
    else
        return QString("black");
}

QString Vehicle::formatedMessages()
{
    QString messages;
    foreach(UASMessage* message, qgcApp()->toolbox()->uasMessageHandler()->messages()) {
        messages += message->getFormatedText();
    }
    return messages;
}

void Vehicle::_handletextMessageReceived(UASMessage* message)
{
    if(message)
    {
        _formatedMessage = message->getFormatedText();
        emit formatedMessageChanged();
    }
}

void Vehicle::_updateBatteryRemaining(UASInterface*, double voltage, double, double percent, int)
{

    if(percent < 0.0) {
        percent = 0.0;
    }
    if(voltage < 0.0) {
        voltage = 0.0;
    }
    if (_batteryVoltage != voltage) {
        _batteryVoltage = voltage;
        emit batteryVoltageChanged();
    }
    if (_batteryPercent != percent) {
        _batteryPercent = percent;
        emit batteryPercentChanged();
    }
}

void Vehicle::_updateBatteryConsumedChanged(UASInterface*, double current_consumed)
{
    if(_batteryConsumed != current_consumed) {
        _batteryConsumed = current_consumed;
        emit batteryConsumedChanged();
    }
}


void Vehicle::_updateState(UASInterface*, QString name, QString)
{
    if (_currentState != name) {
        _currentState = name;
        emit currentStateChanged();
    }
}

void Vehicle::_heartbeatTimeout(bool timeout, unsigned int ms)
{
    unsigned int elapsed = ms;
    if (!timeout)
    {
        elapsed = 0;
    }
    if(elapsed != _currentHeartbeatTimeout) {
        _currentHeartbeatTimeout = elapsed;
        emit heartbeatTimeoutChanged();
    }
}

void Vehicle::_setSatelliteCount(double val, QString)
{
    // I'm assuming that a negative value or over 99 means there is no GPS
    if(val < 0.0)  val = -1.0;
    if(val > 99.0) val = -1.0;
    if(_satelliteCount != (int)val) {
        _satelliteCount = (int)val;
        emit satelliteCountChanged();
    }
}

void Vehicle::_setSatRawHDOP(double val)
{
    if(_satRawHDOP != val) {
        _satRawHDOP = val;
        emit satRawHDOPChanged();
    }
}

void Vehicle::_setSatRawVDOP(double val)
{
    if(_satRawVDOP != val) {
        _satRawVDOP = val;
        emit satRawVDOPChanged();
    }
}

void Vehicle::_setSatRawCOG(double val)
{
    if(_satRawCOG != val) {
        _satRawCOG = val;
        emit satRawCOGChanged();
    }
}

void Vehicle::_setSatLoc(UASInterface*, int fix)
{
    // fix 0: lost, 1: at least one satellite, but no GPS fix, 2: 2D lock, 3: 3D lock
    if(_satelliteLock != fix) {
        if (fix > 2) {
            _coordinateValid = true;
            emit coordinateValidChanged(true);
        }
        _satelliteLock = fix;
        emit satelliteLockChanged();
    }
}

void Vehicle::_handleTextMessage(int newCount)
{
    // Reset?
    if(!newCount) {
        _currentMessageCount = 0;
        _currentNormalCount  = 0;
        _currentWarningCount = 0;
        _currentErrorCount   = 0;
        _messageCount        = 0;
        _currentMessageType  = MessageNone;
        emit newMessageCountChanged();
        emit messageTypeChanged();
        emit messageCountChanged();
        return;
    }

    UASMessageHandler* pMh = qgcApp()->toolbox()->uasMessageHandler();
    Q_ASSERT(pMh);
    MessageType_t type = newCount ? _currentMessageType : MessageNone;
    int errorCount     = _currentErrorCount;
    int warnCount      = _currentWarningCount;
    int normalCount    = _currentNormalCount;
    //-- Add current message counts
    errorCount  += pMh->getErrorCount();
    warnCount   += pMh->getWarningCount();
    normalCount += pMh->getNormalCount();
    //-- See if we have a higher level
    if(errorCount != _currentErrorCount) {
        _currentErrorCount = errorCount;
        type = MessageError;
    }
    if(warnCount != _currentWarningCount) {
        _currentWarningCount = warnCount;
        if(_currentMessageType != MessageError) {
            type = MessageWarning;
        }
    }
    if(normalCount != _currentNormalCount) {
        _currentNormalCount = normalCount;
        if(_currentMessageType != MessageError && _currentMessageType != MessageWarning) {
            type = MessageNormal;
        }
    }
    int count = _currentErrorCount + _currentWarningCount + _currentNormalCount;
    if(count != _currentMessageCount) {
        _currentMessageCount = count;
        // Display current total new messages count
        emit newMessageCountChanged();
    }
    if(type != _currentMessageType) {
        _currentMessageType = type;
        // Update message level
        emit messageTypeChanged();
    }
    // Update message count (all messages)
    if(newCount != _messageCount) {
        _messageCount = newCount;
        emit messageCountChanged();
    }
    QString errMsg = pMh->getLatestError();
    if(errMsg != _latestError) {
        _latestError = errMsg;
        emit latestErrorChanged();
    }
}

void Vehicle::resetMessages()
{
    // Reset Counts
    int count = _currentMessageCount;
    MessageType_t type = _currentMessageType;
    _currentErrorCount   = 0;
    _currentWarningCount = 0;
    _currentNormalCount  = 0;
    _currentMessageCount = 0;
    _currentMessageType = MessageNone;
    if(count != _currentMessageCount) {
        emit newMessageCountChanged();
    }
    if(type != _currentMessageType) {
        emit messageTypeChanged();
    }
}

int Vehicle::manualControlReservedButtonCount(void)
{
    return _firmwarePlugin->manualControlReservedButtonCount();
}

void Vehicle::_loadSettings(void)
{
    QSettings settings;

    settings.beginGroup(QString(_settingsGroup).arg(_id));

    bool convertOk;

    _joystickMode = (JoystickMode_t)settings.value(_joystickModeSettingsKey, JoystickModeRC).toInt(&convertOk);
    if (!convertOk) {
        _joystickMode = JoystickModeRC;
    }

    _joystickEnabled = settings.value(_joystickEnabledSettingsKey, false).toBool();
}

void Vehicle::_saveSettings(void)
{
    QSettings settings;

    settings.beginGroup(QString(_settingsGroup).arg(_id));

    settings.setValue(_joystickModeSettingsKey, _joystickMode);
    settings.setValue(_joystickEnabledSettingsKey, _joystickEnabled);
}

int Vehicle::joystickMode(void)
{
    return _joystickMode;
}

void Vehicle::setJoystickMode(int mode)
{
    if (mode < 0 || mode >= JoystickModeMax) {
        qCWarning(VehicleLog) << "Invalid joystick mode" << mode;
        return;
    }

    _joystickMode = (JoystickMode_t)mode;
    _saveSettings();
    emit joystickModeChanged(mode);
}

QStringList Vehicle::joystickModes(void)
{
    QStringList list;

    list << "Normal" << "Attitude" << "Position" << "Force" << "Velocity";

    return list;
}

bool Vehicle::joystickEnabled(void)
{
    return _joystickEnabled;
}

void Vehicle::setJoystickEnabled(bool enabled)
{
    _joystickEnabled = enabled;
    _startJoystick(_joystickEnabled);
    _saveSettings();
    emit joystickEnabledChanged(_joystickEnabled);
}

void Vehicle::_startJoystick(bool start)
{
#ifndef __mobile__
    Joystick* joystick = _joystickManager->activeJoystick();
    if (joystick) {
        if (start) {
            if (_joystickEnabled) {
                joystick->startPolling(this);
            }
        } else {
            joystick->stopPolling();
        }
    }
#else
    Q_UNUSED(start);
#endif
}

bool Vehicle::active(void)
{
    return _active;
}

void Vehicle::setActive(bool active)
{
    _active = active;

    _startJoystick(_active);
}

QmlObjectListModel* Vehicle::missionItemsModel(void)
{
    return missionManager()->missionItems();
}

bool Vehicle::homePositionAvailable(void)
{
    return _homePositionAvailable;
}

QGeoCoordinate Vehicle::homePosition(void)
{
    return _homePosition;
}

void Vehicle::setArmed(bool armed)
{
    // We specifically use COMMAND_LONG:MAV_CMD_COMPONENT_ARM_DISARM since it is supported by more flight stacks.

    mavlink_message_t msg;
    mavlink_command_long_t cmd;

    cmd.command = (uint16_t)MAV_CMD_COMPONENT_ARM_DISARM;
    cmd.confirmation = 0;
    cmd.param1 = armed ? 1.0f : 0.0f;
    cmd.param2 = 0.0f;
    cmd.param3 = 0.0f;
    cmd.param4 = 0.0f;
    cmd.param5 = 0.0f;
    cmd.param6 = 0.0f;
    cmd.param7 = 0.0f;
    cmd.target_system = id();
    cmd.target_component = 0;

    mavlink_msg_command_long_encode(_mavlink->getSystemId(), _mavlink->getComponentId(), &msg, &cmd);

    sendMessage(msg);
}

bool Vehicle::flightModeSetAvailable(void)
{
    return _firmwarePlugin->isCapable(FirmwarePlugin::SetFlightModeCapability);
}

QStringList Vehicle::flightModes(void)
{
    return _firmwarePlugin->flightModes();
}

QString Vehicle::flightMode(void)
{
    return _firmwarePlugin->flightMode(_base_mode, _custom_mode);
}

void Vehicle::setFlightMode(const QString& flightMode)
{
    uint8_t     base_mode;
    uint32_t    custom_mode;

    if (_firmwarePlugin->setFlightMode(flightMode, &base_mode, &custom_mode)) {
        // setFlightMode will only set MAV_MODE_FLAG_CUSTOM_MODE_ENABLED in base_mode, we need to move back in the existing
        // states.
        uint8_t newBaseMode = _base_mode & ~MAV_MODE_FLAG_DECODE_POSITION_CUSTOM_MODE;
        newBaseMode |= base_mode;

        mavlink_message_t msg;
        mavlink_msg_set_mode_pack(_mavlink->getSystemId(), _mavlink->getComponentId(), &msg, id(), newBaseMode, custom_mode);
        sendMessage(msg);
    } else {
        qWarning() << "FirmwarePlugin::setFlightMode failed, flightMode:" << flightMode;
    }
}

bool Vehicle::hilMode(void)
{
    return _base_mode & MAV_MODE_FLAG_HIL_ENABLED;
}

void Vehicle::setHilMode(bool hilMode)
{
    mavlink_message_t msg;

    uint8_t newBaseMode = _base_mode & ~MAV_MODE_FLAG_DECODE_POSITION_HIL;
    if (hilMode) {
        newBaseMode |= MAV_MODE_FLAG_HIL_ENABLED;
    }

    mavlink_msg_set_mode_pack(_mavlink->getSystemId(), _mavlink->getComponentId(), &msg, id(), newBaseMode, _custom_mode);
    sendMessage(msg);
}

bool Vehicle::missingParameters(void)
{
    return _autopilotPlugin->missingParameters();
}

void Vehicle::requestDataStream(MAV_DATA_STREAM stream, uint16_t rate, bool sendMultiple)
{
    mavlink_message_t               msg;
    mavlink_request_data_stream_t   dataStream;

    dataStream.req_stream_id = stream;
    dataStream.req_message_rate = rate;
    dataStream.start_stop = 1;  // start
    dataStream.target_system = id();
    dataStream.target_component = 0;

    mavlink_msg_request_data_stream_encode(_mavlink->getSystemId(), _mavlink->getComponentId(), &msg, &dataStream);

    if (sendMultiple) {
        // We use sendMessageMultiple since we really want these to make it to the vehicle
        sendMessageMultiple(msg);
    } else {
        sendMessage(msg);
    }
}

void Vehicle::_sendMessageMultipleNext(void)
{
    if (_nextSendMessageMultipleIndex < _sendMessageMultipleList.count()) {
        qCDebug(VehicleLog) << "_sendMessageMultipleNext:" << _sendMessageMultipleList[_nextSendMessageMultipleIndex].message.msgid;

        sendMessage(_sendMessageMultipleList[_nextSendMessageMultipleIndex].message);

        if (--_sendMessageMultipleList[_nextSendMessageMultipleIndex].retryCount <= 0) {
            _sendMessageMultipleList.removeAt(_nextSendMessageMultipleIndex);
        } else {
            _nextSendMessageMultipleIndex++;
        }
    }

    if (_nextSendMessageMultipleIndex >= _sendMessageMultipleList.count()) {
        _nextSendMessageMultipleIndex = 0;
    }
}

void Vehicle::sendMessageMultiple(mavlink_message_t message)
{
    SendMessageMultipleInfo_t   info;

    info.message =      message;
    info.retryCount =   _sendMessageMultipleRetries;

    _sendMessageMultipleList.append(info);
}

void Vehicle::_missionManagerError(int errorCode, const QString& errorMsg)
{
    Q_UNUSED(errorCode);
    qgcApp()->showMessage(QString("Error during Mission communication with Vehicle: %1").arg(errorMsg));
}

void Vehicle::_addNewMapTrajectoryPoint(void)
{
    if (_mapTrajectoryHaveFirstCoordinate) {
        _mapTrajectoryList.append(new CoordinateVector(_mapTrajectoryLastCoordinate, _coordinate, this));
    }
    _mapTrajectoryHaveFirstCoordinate = true;
    _mapTrajectoryLastCoordinate = _coordinate;
}

void Vehicle::_mapTrajectoryStart(void)
{
    _mapTrajectoryHaveFirstCoordinate = false;
    _mapTrajectoryList.clear();
    _mapTrajectoryTimer.start();
}

void Vehicle::_mapTrajectoryStop()
{
    _mapTrajectoryTimer.stop();
}

void Vehicle::_parametersReady(bool parametersReady)
{
    if (parametersReady && !_missionManagerInitialRequestComplete) {
        _missionManagerInitialRequestComplete = true;
        _missionManager->requestMissionItems();
    }

    if (parametersReady) {
        setJoystickEnabled(_joystickEnabled);
    }
}

void Vehicle::disconnectInactiveVehicle(void)
{
    // Vehicle is no longer communicating with us, disconnect all links

    LinkManager* linkMgr = qgcApp()->toolbox()->linkManager();
    for (int i=0; i<_links.count(); i++) {
        linkMgr->disconnectLink(_links[i]);
    }
}

ParameterLoader* Vehicle::getParameterLoader(void)
{
    return _parameterLoader;
}

void Vehicle::_imageReady(UASInterface*)
{
    if(_uas)
    {
        QImage img = _uas->getImage();
        qgcApp()->toolbox()->imageProvider()->setImage(&img, _id);
        _flowImageIndex++;
        emit flowImageIndexChanged();
    }
}

void Vehicle::_remoteControlRSSIChanged(uint8_t rssi)
{
    // Low pass to git rid of jitter
    _rcRSSIstore = (_rcRSSIstore * 0.9f) + ((float)rssi * 0.1);
    uint8_t filteredRSSI = (uint8_t)ceil(_rcRSSIstore);
    if(_rcRSSIstore < 0.1) {
        filteredRSSI = 0;
    }
    if(_rcRSSI != filteredRSSI) {
        _rcRSSI = filteredRSSI;
        emit rcRSSIChanged(_rcRSSI);
    }
}

void Vehicle::virtualTabletJoystickValue(double roll, double pitch, double yaw, double thrust)
{
    // The following if statement prevents the virtualTabletJoystick from sending values if the standard joystick is enabled
    if ( !_joystickEnabled ) {
        _uas->setExternalControlSetpoint(roll, pitch, yaw, thrust, 0, JoystickModeRC);
    }
}