Vehicle.h 82.1 KB
Newer Older
1 2 3 4 5 6 7 8
/****************************************************************************
 *
 *   (c) 2009-2016 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
 *
 * QGroundControl is licensed according to the terms in the file
 * COPYING.md in the root of the source code directory.
 *
 ****************************************************************************/
dogmaphobic's avatar
dogmaphobic committed
9

10
#pragma once
11 12

#include <QObject>
13
#include <QVariantList>
14
#include <QGeoCoordinate>
15

Don Gagne's avatar
Don Gagne committed
16
#include "FactGroup.h"
17 18
#include "LinkInterface.h"
#include "QGCMAVLink.h"
19
#include "QmlObjectListModel.h"
Don Gagne's avatar
Don Gagne committed
20
#include "MAVLinkProtocol.h"
dogmaphobic's avatar
dogmaphobic committed
21
#include "UASMessageHandler.h"
22
#include "SettingsFact.h"
23
#include "QGCMapCircle.h"
24

25 26
class UAS;
class UASInterface;
27
class FirmwarePlugin;
28
class FirmwarePluginManager;
29
class AutoPilotPlugin;
Don Gagne's avatar
Don Gagne committed
30
class MissionManager;
31
class GeoFenceManager;
32
class RallyPointManager;
33
class ParameterManager;
34
class JoystickManager;
dogmaphobic's avatar
dogmaphobic committed
35
class UASMessage;
36
class SettingsManager;
37
class ADSBVehicle;
38
class QGCCameraManager;
Gus Grubba's avatar
Gus Grubba committed
39
class Joystick;
40 41 42
#if defined(QGC_AIRMAP_ENABLED)
class AirspaceVehicleManager;
#endif
43 44 45

Q_DECLARE_LOGGING_CATEGORY(VehicleLog)

Don Gagne's avatar
Don Gagne committed
46 47
class Vehicle;

48 49 50 51 52
class VehicleDistanceSensorFactGroup : public FactGroup
{
    Q_OBJECT

public:
53
    VehicleDistanceSensorFactGroup(QObject* parent = nullptr);
54

55 56 57 58 59 60 61 62 63 64
    Q_PROPERTY(Fact* rotationNone       READ rotationNone       CONSTANT)
    Q_PROPERTY(Fact* rotationYaw45      READ rotationYaw45      CONSTANT)
    Q_PROPERTY(Fact* rotationYaw90      READ rotationYaw90      CONSTANT)
    Q_PROPERTY(Fact* rotationYaw135     READ rotationYaw135     CONSTANT)
    Q_PROPERTY(Fact* rotationYaw180     READ rotationYaw180     CONSTANT)
    Q_PROPERTY(Fact* rotationYaw225     READ rotationYaw225     CONSTANT)
    Q_PROPERTY(Fact* rotationYaw270     READ rotationYaw270     CONSTANT)
    Q_PROPERTY(Fact* rotationYaw315     READ rotationYaw315     CONSTANT)
    Q_PROPERTY(Fact* rotationPitch90    READ rotationPitch90    CONSTANT)
    Q_PROPERTY(Fact* rotationPitch270   READ rotationPitch270   CONSTANT)
65 66

    Fact* rotationNone      (void) { return &_rotationNoneFact; }
67
    Fact* rotationYaw45     (void) { return &_rotationYaw45Fact; }
68
    Fact* rotationYaw90     (void) { return &_rotationYaw90Fact; }
69
    Fact* rotationYaw135    (void) { return &_rotationYaw90Fact; }
70
    Fact* rotationYaw180    (void) { return &_rotationYaw180Fact; }
71
    Fact* rotationYaw225    (void) { return &_rotationYaw180Fact; }
72
    Fact* rotationYaw270    (void) { return &_rotationYaw270Fact; }
73 74 75 76 77 78
    Fact* rotationYaw315    (void) { return &_rotationYaw315Fact; }
    Fact* rotationPitch90   (void) { return &_rotationPitch90Fact; }
    Fact* rotationPitch270  (void) { return &_rotationPitch270Fact; }

    bool idSet(void) { return _idSet; }
    void setIdSet(bool idSet) { _idSet = idSet; }
79 80
    uint8_t id(void) { return _id; }
    void setId(uint8_t id) { _id = id; }
81 82

    static const char* _rotationNoneFactName;
83
    static const char* _rotationYaw45FactName;
84
    static const char* _rotationYaw90FactName;
85
    static const char* _rotationYaw135FactName;
86
    static const char* _rotationYaw180FactName;
87
    static const char* _rotationYaw225FactName;
88
    static const char* _rotationYaw270FactName;
89 90 91
    static const char* _rotationYaw315FactName;
    static const char* _rotationPitch90FactName;
    static const char* _rotationPitch270FactName;
92 93 94

private:
    Fact _rotationNoneFact;
95
    Fact _rotationYaw45Fact;
96
    Fact _rotationYaw90Fact;
97
    Fact _rotationYaw135Fact;
98
    Fact _rotationYaw180Fact;
99
    Fact _rotationYaw225Fact;
100
    Fact _rotationYaw270Fact;
101 102 103 104 105 106
    Fact _rotationYaw315Fact;
    Fact _rotationPitch90Fact;
    Fact _rotationPitch270Fact;

    bool    _idSet; // true: _id is set to seen sensor id
    uint8_t _id;    // The id for the sensor being tracked. Current support for only a single sensor.
107 108
};

DonLakeFlyer's avatar
DonLakeFlyer committed
109 110 111 112 113
class VehicleSetpointFactGroup : public FactGroup
{
    Q_OBJECT

public:
114
    VehicleSetpointFactGroup(QObject* parent = nullptr);
DonLakeFlyer's avatar
DonLakeFlyer committed
115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145

    Q_PROPERTY(Fact* roll       READ roll       CONSTANT)
    Q_PROPERTY(Fact* pitch      READ pitch      CONSTANT)
    Q_PROPERTY(Fact* yaw        READ yaw        CONSTANT)
    Q_PROPERTY(Fact* rollRate   READ rollRate   CONSTANT)
    Q_PROPERTY(Fact* pitchRate  READ pitchRate  CONSTANT)
    Q_PROPERTY(Fact* yawRate    READ yawRate    CONSTANT)

    Fact* roll      (void) { return &_rollFact; }
    Fact* pitch     (void) { return &_pitchFact; }
    Fact* yaw       (void) { return &_yawFact; }
    Fact* rollRate  (void) { return &_rollRateFact; }
    Fact* pitchRate (void) { return &_pitchRateFact; }
    Fact* yawRate   (void) { return &_yawRateFact; }

    static const char* _rollFactName;
    static const char* _pitchFactName;
    static const char* _yawFactName;
    static const char* _rollRateFactName;
    static const char* _pitchRateFactName;
    static const char* _yawRateFactName;

private:
    Fact _rollFact;
    Fact _pitchFact;
    Fact _yawFact;
    Fact _rollRateFact;
    Fact _pitchRateFact;
    Fact _yawRateFact;
};

146 147 148 149 150
class VehicleVibrationFactGroup : public FactGroup
{
    Q_OBJECT

public:
151
    VehicleVibrationFactGroup(QObject* parent = nullptr);
152 153 154 155 156 157 158 159

    Q_PROPERTY(Fact* xAxis      READ xAxis      CONSTANT)
    Q_PROPERTY(Fact* yAxis      READ yAxis      CONSTANT)
    Q_PROPERTY(Fact* zAxis      READ zAxis      CONSTANT)
    Q_PROPERTY(Fact* clipCount1 READ clipCount1 CONSTANT)
    Q_PROPERTY(Fact* clipCount2 READ clipCount2 CONSTANT)
    Q_PROPERTY(Fact* clipCount3 READ clipCount3 CONSTANT)

160 161 162 163 164 165
    Fact* xAxis         (void) { return &_xAxisFact; }
    Fact* yAxis         (void) { return &_yAxisFact; }
    Fact* zAxis         (void) { return &_zAxisFact; }
    Fact* clipCount1    (void) { return &_clipCount1Fact; }
    Fact* clipCount2    (void) { return &_clipCount2Fact; }
    Fact* clipCount3    (void) { return &_clipCount3Fact; }
166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182

    static const char* _xAxisFactName;
    static const char* _yAxisFactName;
    static const char* _zAxisFactName;
    static const char* _clipCount1FactName;
    static const char* _clipCount2FactName;
    static const char* _clipCount3FactName;

private:
    Fact        _xAxisFact;
    Fact        _yAxisFact;
    Fact        _zAxisFact;
    Fact        _clipCount1Fact;
    Fact        _clipCount2Fact;
    Fact        _clipCount3Fact;
};

Don Gagne's avatar
Don Gagne committed
183 184 185 186 187
class VehicleWindFactGroup : public FactGroup
{
    Q_OBJECT

public:
188
    VehicleWindFactGroup(QObject* parent = nullptr);
Don Gagne's avatar
Don Gagne committed
189 190 191 192 193

    Q_PROPERTY(Fact* direction      READ direction      CONSTANT)
    Q_PROPERTY(Fact* speed          READ speed          CONSTANT)
    Q_PROPERTY(Fact* verticalSpeed  READ verticalSpeed  CONSTANT)

194 195 196
    Fact* direction     (void) { return &_directionFact; }
    Fact* speed         (void) { return &_speedFact; }
    Fact* verticalSpeed (void) { return &_verticalSpeedFact; }
Don Gagne's avatar
Don Gagne committed
197 198 199 200 201 202 203 204 205 206 207

    static const char* _directionFactName;
    static const char* _speedFactName;
    static const char* _verticalSpeedFactName;

private:
    Fact        _directionFact;
    Fact        _speedFact;
    Fact        _verticalSpeedFact;
};

Don Gagne's avatar
Don Gagne committed
208 209 210 211 212
class VehicleGPSFactGroup : public FactGroup
{
    Q_OBJECT

public:
213
    VehicleGPSFactGroup(QObject* parent = nullptr);
Don Gagne's avatar
Don Gagne committed
214

215 216
    Q_PROPERTY(Fact* lat                READ lat                CONSTANT)
    Q_PROPERTY(Fact* lon                READ lon                CONSTANT)
Don Gagne's avatar
Don Gagne committed
217 218 219 220 221 222
    Q_PROPERTY(Fact* hdop               READ hdop               CONSTANT)
    Q_PROPERTY(Fact* vdop               READ vdop               CONSTANT)
    Q_PROPERTY(Fact* courseOverGround   READ courseOverGround   CONSTANT)
    Q_PROPERTY(Fact* count              READ count              CONSTANT)
    Q_PROPERTY(Fact* lock               READ lock               CONSTANT)

223 224
    Fact* lat               (void) { return &_latFact; }
    Fact* lon               (void) { return &_lonFact; }
225 226 227 228 229
    Fact* hdop              (void) { return &_hdopFact; }
    Fact* vdop              (void) { return &_vdopFact; }
    Fact* courseOverGround  (void) { return &_courseOverGroundFact; }
    Fact* count             (void) { return &_countFact; }
    Fact* lock              (void) { return &_lockFact; }
Don Gagne's avatar
Don Gagne committed
230

231 232
    static const char* _latFactName;
    static const char* _lonFactName;
Don Gagne's avatar
Don Gagne committed
233 234 235 236 237 238
    static const char* _hdopFactName;
    static const char* _vdopFactName;
    static const char* _courseOverGroundFactName;
    static const char* _countFactName;
    static const char* _lockFactName;

Don Gagne's avatar
Don Gagne committed
239
private:
240 241
    Fact        _latFact;
    Fact        _lonFact;
Don Gagne's avatar
Don Gagne committed
242 243 244 245 246
    Fact        _hdopFact;
    Fact        _vdopFact;
    Fact        _courseOverGroundFact;
    Fact        _countFact;
    Fact        _lockFact;
Don Gagne's avatar
Don Gagne committed
247
};
Don Gagne's avatar
Don Gagne committed
248

Don Gagne's avatar
Don Gagne committed
249 250 251 252 253
class VehicleBatteryFactGroup : public FactGroup
{
    Q_OBJECT

public:
254
    VehicleBatteryFactGroup(QObject* parent = nullptr);
Don Gagne's avatar
Don Gagne committed
255 256 257 258 259 260

    Q_PROPERTY(Fact* voltage            READ voltage            CONSTANT)
    Q_PROPERTY(Fact* percentRemaining   READ percentRemaining   CONSTANT)
    Q_PROPERTY(Fact* mahConsumed        READ mahConsumed        CONSTANT)
    Q_PROPERTY(Fact* current            READ current            CONSTANT)
    Q_PROPERTY(Fact* temperature        READ temperature        CONSTANT)
261
    Q_PROPERTY(Fact* cellCount          READ cellCount          CONSTANT)
262
    Q_PROPERTY(Fact* instantPower       READ instantPower       CONSTANT)
263 264
    Q_PROPERTY(Fact* timeRemaining      READ timeRemaining      CONSTANT)
    Q_PROPERTY(Fact* chargeState        READ chargeState        CONSTANT)
265 266 267 268 269 270 271

    Fact* voltage                   (void) { return &_voltageFact; }
    Fact* percentRemaining          (void) { return &_percentRemainingFact; }
    Fact* mahConsumed               (void) { return &_mahConsumedFact; }
    Fact* current                   (void) { return &_currentFact; }
    Fact* temperature               (void) { return &_temperatureFact; }
    Fact* cellCount                 (void) { return &_cellCountFact; }
272
    Fact* instantPower              (void) { return &_instantPowerFact; }
273 274
    Fact* timeRemaining             (void) { return &_timeRemainingFact; }
    Fact* chargeState               (void) { return &_chargeStateFact; }
Don Gagne's avatar
Don Gagne committed
275 276 277 278 279 280 281

    static const char* _voltageFactName;
    static const char* _percentRemainingFactName;
    static const char* _mahConsumedFactName;
    static const char* _currentFactName;
    static const char* _temperatureFactName;
    static const char* _cellCountFactName;
282
    static const char* _instantPowerFactName;
283 284
    static const char* _timeRemainingFactName;
    static const char* _chargeStateFactName;
Don Gagne's avatar
Don Gagne committed
285

286 287
    static const char* _settingsGroup;

Don Gagne's avatar
Don Gagne committed
288 289 290 291 292 293
    static const double _voltageUnavailable;
    static const int    _percentRemainingUnavailable;
    static const int    _mahConsumedUnavailable;
    static const int    _currentUnavailable;
    static const double _temperatureUnavailable;
    static const int    _cellCountUnavailable;
294
    static const double _instantPowerUnavailable;
Don Gagne's avatar
Don Gagne committed
295 296

private:
297 298 299 300 301 302
    Fact            _voltageFact;
    Fact            _percentRemainingFact;
    Fact            _mahConsumedFact;
    Fact            _currentFact;
    Fact            _temperatureFact;
    Fact            _cellCountFact;
303
    Fact            _instantPowerFact;
304 305
    Fact            _timeRemainingFact;
    Fact            _chargeStateFact;
Don Gagne's avatar
Don Gagne committed
306 307
};

308 309 310 311 312
class VehicleTemperatureFactGroup : public FactGroup
{
    Q_OBJECT

public:
313
    VehicleTemperatureFactGroup(QObject* parent = nullptr);
314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336

    Q_PROPERTY(Fact* temperature1       READ temperature1       CONSTANT)
    Q_PROPERTY(Fact* temperature2       READ temperature2       CONSTANT)
    Q_PROPERTY(Fact* temperature3       READ temperature3       CONSTANT)

    Fact* temperature1 (void) { return &_temperature1Fact; }
    Fact* temperature2 (void) { return &_temperature2Fact; }
    Fact* temperature3 (void) { return &_temperature3Fact; }

    static const char* _temperature1FactName;
    static const char* _temperature2FactName;
    static const char* _temperature3FactName;

    static const char* _settingsGroup;

    static const double _temperatureUnavailable;

private:
    Fact            _temperature1Fact;
    Fact            _temperature2Fact;
    Fact            _temperature3Fact;
};

dheideman's avatar
dheideman committed
337 338 339 340 341
class VehicleClockFactGroup : public FactGroup
{
    Q_OBJECT

public:
342
    VehicleClockFactGroup(QObject* parent = nullptr);
dheideman's avatar
dheideman committed
343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362

    Q_PROPERTY(Fact* currentTime        READ currentTime        CONSTANT)
    Q_PROPERTY(Fact* currentDate        READ currentDate        CONSTANT)

    Fact* currentTime (void) { return &_currentTimeFact; }
    Fact* currentDate (void) { return &_currentDateFact; }

    static const char* _currentTimeFactName;
    static const char* _currentDateFactName;

    static const char* _settingsGroup;

private slots:
    void _updateAllValues(void) override;

private:
    Fact            _currentTimeFact;
    Fact            _currentDateFact;
};

363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396 397 398 399 400 401 402 403 404 405 406 407 408 409 410 411 412 413 414 415 416 417 418 419 420 421 422 423 424 425 426 427 428 429 430 431 432 433 434 435 436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454 455 456 457 458 459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480 481
class VehicleEstimatorStatusFactGroup : public FactGroup
{
    Q_OBJECT

public:
    VehicleEstimatorStatusFactGroup(QObject* parent = nullptr);

    Q_PROPERTY(Fact* goodAttitudeEstimate           READ goodAttitudeEstimate           CONSTANT)
    Q_PROPERTY(Fact* goodHorizVelEstimate           READ goodHorizVelEstimate           CONSTANT)
    Q_PROPERTY(Fact* goodVertVelEstimate            READ goodVertVelEstimate            CONSTANT)
    Q_PROPERTY(Fact* goodHorizPosRelEstimate        READ goodHorizPosRelEstimate        CONSTANT)
    Q_PROPERTY(Fact* goodHorizPosAbsEstimate        READ goodHorizPosAbsEstimate        CONSTANT)
    Q_PROPERTY(Fact* goodVertPosAbsEstimate         READ goodVertPosAbsEstimate         CONSTANT)
    Q_PROPERTY(Fact* goodVertPosAGLEstimate         READ goodVertPosAGLEstimate         CONSTANT)
    Q_PROPERTY(Fact* goodConstPosModeEstimate       READ goodConstPosModeEstimate       CONSTANT)
    Q_PROPERTY(Fact* goodPredHorizPosRelEstimate    READ goodPredHorizPosRelEstimate    CONSTANT)
    Q_PROPERTY(Fact* goodPredHorizPosAbsEstimate    READ goodPredHorizPosAbsEstimate    CONSTANT)
    Q_PROPERTY(Fact* gpsGlitch                      READ gpsGlitch                      CONSTANT)
    Q_PROPERTY(Fact* accelError                     READ accelError                     CONSTANT)
    Q_PROPERTY(Fact* velRatio                       READ velRatio                       CONSTANT)
    Q_PROPERTY(Fact* horizPosRatio                  READ horizPosRatio                  CONSTANT)
    Q_PROPERTY(Fact* vertPosRatio                   READ vertPosRatio                   CONSTANT)
    Q_PROPERTY(Fact* magRatio                       READ magRatio                       CONSTANT)
    Q_PROPERTY(Fact* haglRatio                      READ haglRatio                      CONSTANT)
    Q_PROPERTY(Fact* tasRatio                       READ tasRatio                       CONSTANT)
    Q_PROPERTY(Fact* horizPosAccuracy               READ horizPosAccuracy               CONSTANT)
    Q_PROPERTY(Fact* vertPosAccuracy                READ vertPosAccuracy                CONSTANT)

    Fact* goodAttitudeEstimate          (void) { return &_goodAttitudeEstimateFact; }
    Fact* goodHorizVelEstimate          (void) { return &_goodHorizVelEstimateFact; }
    Fact* goodVertVelEstimate           (void) { return &_goodVertVelEstimateFact; }
    Fact* goodHorizPosRelEstimate       (void) { return &_goodHorizPosRelEstimateFact; }
    Fact* goodHorizPosAbsEstimate       (void) { return &_goodHorizPosAbsEstimateFact; }
    Fact* goodVertPosAbsEstimate        (void) { return &_goodVertPosAbsEstimateFact; }
    Fact* goodVertPosAGLEstimate        (void) { return &_goodVertPosAGLEstimateFact; }
    Fact* goodConstPosModeEstimate      (void) { return &_goodConstPosModeEstimateFact; }
    Fact* goodPredHorizPosRelEstimate   (void) { return &_goodPredHorizPosRelEstimateFact; }
    Fact* goodPredHorizPosAbsEstimate   (void) { return &_goodPredHorizPosAbsEstimateFact; }
    Fact* gpsGlitch                     (void) { return &_gpsGlitchFact; }
    Fact* accelError                    (void) { return &_accelErrorFact; }
    Fact* velRatio                      (void) { return &_velRatioFact; }
    Fact* horizPosRatio                 (void) { return &_horizPosRatioFact; }
    Fact* vertPosRatio                  (void) { return &_vertPosRatioFact; }
    Fact* magRatio                      (void) { return &_magRatioFact; }
    Fact* haglRatio                     (void) { return &_haglRatioFact; }
    Fact* tasRatio                      (void) { return &_tasRatioFact; }
    Fact* horizPosAccuracy              (void) { return &_horizPosAccuracyFact; }
    Fact* vertPosAccuracy               (void) { return &_vertPosAccuracyFact; }

    static const char* _goodAttitudeEstimateFactName;
    static const char* _goodHorizVelEstimateFactName;
    static const char* _goodVertVelEstimateFactName;
    static const char* _goodHorizPosRelEstimateFactName;
    static const char* _goodHorizPosAbsEstimateFactName;
    static const char* _goodVertPosAbsEstimateFactName;
    static const char* _goodVertPosAGLEstimateFactName;
    static const char* _goodConstPosModeEstimateFactName;
    static const char* _goodPredHorizPosRelEstimateFactName;
    static const char* _goodPredHorizPosAbsEstimateFactName;
    static const char* _gpsGlitchFactName;
    static const char* _accelErrorFactName;
    static const char* _velRatioFactName;
    static const char* _horizPosRatioFactName;
    static const char* _vertPosRatioFactName;
    static const char* _magRatioFactName;
    static const char* _haglRatioFactName;
    static const char* _tasRatioFactName;
    static const char* _horizPosAccuracyFactName;
    static const char* _vertPosAccuracyFactName;

private:
    Fact _goodAttitudeEstimateFact;
    Fact _goodHorizVelEstimateFact;
    Fact _goodVertVelEstimateFact;
    Fact _goodHorizPosRelEstimateFact;
    Fact _goodHorizPosAbsEstimateFact;
    Fact _goodVertPosAbsEstimateFact;
    Fact _goodVertPosAGLEstimateFact;
    Fact _goodConstPosModeEstimateFact;
    Fact _goodPredHorizPosRelEstimateFact;
    Fact _goodPredHorizPosAbsEstimateFact;
    Fact _gpsGlitchFact;
    Fact _accelErrorFact;
    Fact _velRatioFact;
    Fact _horizPosRatioFact;
    Fact _vertPosRatioFact;
    Fact _magRatioFact;
    Fact _haglRatioFact;
    Fact _tasRatioFact;
    Fact _horizPosAccuracyFact;
    Fact _vertPosAccuracyFact;

#if 0
    typedef enum ESTIMATOR_STATUS_FLAGS
    {
       ESTIMATOR_ATTITUDE=1, /* True if the attitude estimate is good | */
       ESTIMATOR_VELOCITY_HORIZ=2, /* True if the horizontal velocity estimate is good | */
       ESTIMATOR_VELOCITY_VERT=4, /* True if the  vertical velocity estimate is good | */
       ESTIMATOR_POS_HORIZ_REL=8, /* True if the horizontal position (relative) estimate is good | */
       ESTIMATOR_POS_HORIZ_ABS=16, /* True if the horizontal position (absolute) estimate is good | */
       ESTIMATOR_POS_VERT_ABS=32, /* True if the vertical position (absolute) estimate is good | */
       ESTIMATOR_POS_VERT_AGL=64, /* True if the vertical position (above ground) estimate is good | */
       ESTIMATOR_CONST_POS_MODE=128, /* True if the EKF is in a constant position mode and is not using external measurements (eg GPS or optical flow) | */
       ESTIMATOR_PRED_POS_HORIZ_REL=256, /* True if the EKF has sufficient data to enter a mode that will provide a (relative) position estimate | */
       ESTIMATOR_PRED_POS_HORIZ_ABS=512, /* True if the EKF has sufficient data to enter a mode that will provide a (absolute) position estimate | */
       ESTIMATOR_GPS_GLITCH=1024, /* True if the EKF has detected a GPS glitch | */
       ESTIMATOR_ACCEL_ERROR=2048, /* True if the EKF has detected bad accelerometer data | */

        typedef struct __mavlink_estimator_status_t {
         uint64_t time_usec; /*< Timestamp (micros since boot or Unix epoch)*/
         float vel_ratio; /*< Velocity innovation test ratio*/
         float pos_horiz_ratio; /*< Horizontal position innovation test ratio*/
         float pos_vert_ratio; /*< Vertical position innovation test ratio*/
         float mag_ratio; /*< Magnetometer innovation test ratio*/
         float hagl_ratio; /*< Height above terrain innovation test ratio*/
         float tas_ratio; /*< True airspeed innovation test ratio*/
         float pos_horiz_accuracy; /*< Horizontal position 1-STD accuracy relative to the EKF local origin (m)*/
         float pos_vert_accuracy; /*< Vertical position 1-STD accuracy relative to the EKF local origin (m)*/
         uint16_t flags; /*< Integer bitmask indicating which EKF outputs are valid. See definition for ESTIMATOR_STATUS_FLAGS.*/
482 483
        } mavlink_estimator_status_t;
    };
484 485 486 487
#endif
};


Don Gagne's avatar
Don Gagne committed
488
class Vehicle : public FactGroup
489 490
{
    Q_OBJECT
dogmaphobic's avatar
dogmaphobic committed
491

492
public:
493 494
    Vehicle(LinkInterface*          link,
            int                     vehicleId,
495
            int                     defaultComponentId,
496 497 498 499
            MAV_AUTOPILOT           firmwareType,
            MAV_TYPE                vehicleType,
            FirmwarePluginManager*  firmwarePluginManager,
            JoystickManager*        joystickManager);
500

501 502 503 504
    // The following is used to create a disconnected Vehicle for use while offline editing.
    Vehicle(MAV_AUTOPILOT           firmwareType,
            MAV_TYPE                vehicleType,
            FirmwarePluginManager*  firmwarePluginManager,
505
            QObject*                parent = nullptr);
506

507
    ~Vehicle();
dogmaphobic's avatar
dogmaphobic committed
508

509 510 511 512 513
    /// Sensor bits from sensors*Bits properties
    enum MavlinkSysStatus {
        SysStatusSensor3dGyro =                 MAV_SYS_STATUS_SENSOR_3D_GYRO,
        SysStatusSensor3dAccel =                MAV_SYS_STATUS_SENSOR_3D_ACCEL,
        SysStatusSensor3dMag =                  MAV_SYS_STATUS_SENSOR_3D_MAG,
514
        SysStatusSensorAbsolutePressure =       MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE,
515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531 532 533 534 535 536 537 538 539
        SysStatusSensorDifferentialPressure =   MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE,
        SysStatusSensorGPS =                    MAV_SYS_STATUS_SENSOR_GPS,
        SysStatusSensorOpticalFlow =            MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW,
        SysStatusSensorVisionPosition =         MAV_SYS_STATUS_SENSOR_VISION_POSITION,
        SysStatusSensorLaserPosition =          MAV_SYS_STATUS_SENSOR_LASER_POSITION,
        SysStatusSensorExternalGroundTruth =    MAV_SYS_STATUS_SENSOR_EXTERNAL_GROUND_TRUTH,
        SysStatusSensorAngularRateControl =     MAV_SYS_STATUS_SENSOR_ANGULAR_RATE_CONTROL,
        SysStatusSensorAttitudeStabilization =  MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION,
        SysStatusSensorYawPosition =            MAV_SYS_STATUS_SENSOR_YAW_POSITION,
        SysStatusSensorZAltitudeControl =       MAV_SYS_STATUS_SENSOR_Z_ALTITUDE_CONTROL,
        SysStatusSensorXYPositionControl =      MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL,
        SysStatusSensorMotorOutputs =           MAV_SYS_STATUS_SENSOR_MOTOR_OUTPUTS,
        SysStatusSensorRCReceiver =             MAV_SYS_STATUS_SENSOR_RC_RECEIVER,
        SysStatusSensor3dGyro2 =                MAV_SYS_STATUS_SENSOR_3D_GYRO2,
        SysStatusSensor3dAccel2 =               MAV_SYS_STATUS_SENSOR_3D_ACCEL2,
        SysStatusSensor3dMag2 =                 MAV_SYS_STATUS_SENSOR_3D_MAG2,
        SysStatusSensorGeoFence =               MAV_SYS_STATUS_GEOFENCE,
        SysStatusSensorAHRS =                   MAV_SYS_STATUS_AHRS,
        SysStatusSensorTerrain =                MAV_SYS_STATUS_TERRAIN,
        SysStatusSensorReverseMotor =           MAV_SYS_STATUS_REVERSE_MOTOR,
        SysStatusSensorLogging =                MAV_SYS_STATUS_LOGGING,
        SysStatusSensorBattery =                MAV_SYS_STATUS_SENSOR_BATTERY,
    };
    Q_ENUM(MavlinkSysStatus)

540 541 542 543 544
    Q_PROPERTY(int                  id                      READ id                                                     CONSTANT)
    Q_PROPERTY(AutoPilotPlugin*     autopilot               MEMBER _autopilotPlugin                                     CONSTANT)
    Q_PROPERTY(QGeoCoordinate       coordinate              READ coordinate                                             NOTIFY coordinateChanged)
    Q_PROPERTY(QGeoCoordinate       homePosition            READ homePosition                                           NOTIFY homePositionChanged)
    Q_PROPERTY(bool                 armed                   READ armed                  WRITE setArmed                  NOTIFY armedChanged)
545
    Q_PROPERTY(bool                 autoDisarm              READ autoDisarm                                             NOTIFY autoDisarmChanged)
546
    Q_PROPERTY(bool                 flightModeSetAvailable  READ flightModeSetAvailable                                 CONSTANT)
547
    Q_PROPERTY(QStringList          flightModes             READ flightModes                                            NOTIFY flightModesChanged)
548 549 550
    Q_PROPERTY(QString              flightMode              READ flightMode             WRITE setFlightMode             NOTIFY flightModeChanged)
    Q_PROPERTY(bool                 hilMode                 READ hilMode                WRITE setHilMode                NOTIFY hilModeChanged)
    Q_PROPERTY(QmlObjectListModel*  trajectoryPoints        READ trajectoryPoints                                       CONSTANT)
551
    Q_PROPERTY(QmlObjectListModel*  cameraTriggerPoints     READ cameraTriggerPoints                                    CONSTANT)
552 553 554 555 556 557 558 559 560 561 562 563 564 565 566 567 568
    Q_PROPERTY(float                latitude                READ latitude                                               NOTIFY coordinateChanged)
    Q_PROPERTY(float                longitude               READ longitude                                              NOTIFY coordinateChanged)
    Q_PROPERTY(bool                 messageTypeNone         READ messageTypeNone                                        NOTIFY messageTypeChanged)
    Q_PROPERTY(bool                 messageTypeNormal       READ messageTypeNormal                                      NOTIFY messageTypeChanged)
    Q_PROPERTY(bool                 messageTypeWarning      READ messageTypeWarning                                     NOTIFY messageTypeChanged)
    Q_PROPERTY(bool                 messageTypeError        READ messageTypeError                                       NOTIFY messageTypeChanged)
    Q_PROPERTY(int                  newMessageCount         READ newMessageCount                                        NOTIFY newMessageCountChanged)
    Q_PROPERTY(int                  messageCount            READ messageCount                                           NOTIFY messageCountChanged)
    Q_PROPERTY(QString              formatedMessages        READ formatedMessages                                       NOTIFY formatedMessagesChanged)
    Q_PROPERTY(QString              formatedMessage         READ formatedMessage                                        NOTIFY formatedMessageChanged)
    Q_PROPERTY(QString              latestError             READ latestError                                            NOTIFY latestErrorChanged)
    Q_PROPERTY(int                  joystickMode            READ joystickMode           WRITE setJoystickMode           NOTIFY joystickModeChanged)
    Q_PROPERTY(QStringList          joystickModes           READ joystickModes                                          CONSTANT)
    Q_PROPERTY(bool                 joystickEnabled         READ joystickEnabled        WRITE setJoystickEnabled        NOTIFY joystickEnabledChanged)
    Q_PROPERTY(bool                 active                  READ active                 WRITE setActive                 NOTIFY activeChanged)
    Q_PROPERTY(int                  flowImageIndex          READ flowImageIndex                                         NOTIFY flowImageIndexChanged)
    Q_PROPERTY(int                  rcRSSI                  READ rcRSSI                                                 NOTIFY rcRSSIChanged)
569 570
    Q_PROPERTY(bool                 px4Firmware             READ px4Firmware                                            NOTIFY firmwareTypeChanged)
    Q_PROPERTY(bool                 apmFirmware             READ apmFirmware                                            NOTIFY firmwareTypeChanged)
571 572 573 574 575 576 577
    Q_PROPERTY(bool                 soloFirmware            READ soloFirmware           WRITE setSoloFirmware           NOTIFY soloFirmwareChanged)
    Q_PROPERTY(bool                 genericFirmware         READ genericFirmware                                        CONSTANT)
    Q_PROPERTY(bool                 connectionLost          READ connectionLost                                         NOTIFY connectionLostChanged)
    Q_PROPERTY(bool                 connectionLostEnabled   READ connectionLostEnabled  WRITE setConnectionLostEnabled  NOTIFY connectionLostEnabledChanged)
    Q_PROPERTY(uint                 messagesReceived        READ messagesReceived                                       NOTIFY messagesReceivedChanged)
    Q_PROPERTY(uint                 messagesSent            READ messagesSent                                           NOTIFY messagesSentChanged)
    Q_PROPERTY(uint                 messagesLost            READ messagesLost                                           NOTIFY messagesLostChanged)
578 579 580 581 582
    Q_PROPERTY(bool                 fixedWing               READ fixedWing                                              NOTIFY vehicleTypeChanged)
    Q_PROPERTY(bool                 multiRotor              READ multiRotor                                             NOTIFY vehicleTypeChanged)
    Q_PROPERTY(bool                 vtol                    READ vtol                                                   NOTIFY vehicleTypeChanged)
    Q_PROPERTY(bool                 rover                   READ rover                                                  NOTIFY vehicleTypeChanged)
    Q_PROPERTY(bool                 sub                     READ sub                                                    NOTIFY vehicleTypeChanged)
583
    Q_PROPERTY(bool        supportsThrottleModeCenterZero   READ supportsThrottleModeCenterZero                         CONSTANT)
584
    Q_PROPERTY(bool                supportsNegativeThrust   READ supportsNegativeThrust                                 CONSTANT)
585
    Q_PROPERTY(bool                 supportsJSButton        READ supportsJSButton                                       CONSTANT)
586
    Q_PROPERTY(bool                 supportsRadio           READ supportsRadio                                          CONSTANT)
587
    Q_PROPERTY(bool               supportsMotorInterference READ supportsMotorInterference                              CONSTANT)
588 589
    Q_PROPERTY(bool                 autoDisconnect          MEMBER _autoDisconnect                                      NOTIFY autoDisconnectChanged)
    Q_PROPERTY(QString              prearmError             READ prearmError            WRITE setPrearmError            NOTIFY prearmErrorChanged)
Don Gagne's avatar
Don Gagne committed
590 591 592
    Q_PROPERTY(int                  motorCount              READ motorCount                                             CONSTANT)
    Q_PROPERTY(bool                 coaxialMotors           READ coaxialMotors                                          CONSTANT)
    Q_PROPERTY(bool                 xConfigMotors           READ xConfigMotors                                          CONSTANT)
593
    Q_PROPERTY(bool                 isOfflineEditingVehicle READ isOfflineEditingVehicle                                CONSTANT)
594 595
    Q_PROPERTY(QString              brandImageIndoor        READ brandImageIndoor                                       NOTIFY firmwareTypeChanged)
    Q_PROPERTY(QString              brandImageOutdoor       READ brandImageOutdoor                                      NOTIFY firmwareTypeChanged)
596
    Q_PROPERTY(QStringList          unhealthySensors        READ unhealthySensors                                       NOTIFY unhealthySensorsChanged)
597 598 599
    Q_PROPERTY(int                  sensorsPresentBits      READ sensorsPresentBits                                     NOTIFY sensorsPresentBitsChanged)
    Q_PROPERTY(int                  sensorsEnabledBits      READ sensorsEnabledBits                                     NOTIFY sensorsEnabledBitsChanged)
    Q_PROPERTY(int                  sensorsHealthBits       READ sensorsHealthBits                                      NOTIFY sensorsHealthBitsChanged)
600
    Q_PROPERTY(int                  sensorsUnhealthyBits    READ sensorsUnhealthyBits                                   NOTIFY sensorsUnhealthyBitsChanged) ///< Combination of enabled and health
601
    Q_PROPERTY(QString              missionFlightMode       READ missionFlightMode                                      CONSTANT)
602
    Q_PROPERTY(QString              pauseFlightMode         READ pauseFlightMode                                        CONSTANT)
603
    Q_PROPERTY(QString              rtlFlightMode           READ rtlFlightMode                                          CONSTANT)
DonLakeFlyer's avatar
DonLakeFlyer committed
604 605
    Q_PROPERTY(QString              smartRTLFlightMode      READ smartRTLFlightMode                                     CONSTANT)
    Q_PROPERTY(bool                 supportsSmartRTL        READ supportsSmartRTL                                       CONSTANT)
606
    Q_PROPERTY(QString              landFlightMode          READ landFlightMode                                         CONSTANT)
607
    Q_PROPERTY(QString              takeControlFlightMode   READ takeControlFlightMode                                  CONSTANT)
608 609
    Q_PROPERTY(QString              firmwareTypeString      READ firmwareTypeString                                     NOTIFY firmwareTypeChanged)
    Q_PROPERTY(QString              vehicleTypeString       READ vehicleTypeString                                      NOTIFY vehicleTypeChanged)
610 611 612
    Q_PROPERTY(QString              vehicleImageOpaque      READ vehicleImageOpaque                                     CONSTANT)
    Q_PROPERTY(QString              vehicleImageOutline     READ vehicleImageOutline                                    CONSTANT)
    Q_PROPERTY(QString              vehicleImageCompass     READ vehicleImageCompass                                    CONSTANT)
Gus Grubba's avatar
Gus Grubba committed
613 614 615 616 617
    Q_PROPERTY(int                  telemetryRRSSI          READ telemetryRRSSI                                         NOTIFY telemetryRRSSIChanged)
    Q_PROPERTY(int                  telemetryLRSSI          READ telemetryLRSSI                                         NOTIFY telemetryLRSSIChanged)
    Q_PROPERTY(unsigned int         telemetryRXErrors       READ telemetryRXErrors                                      NOTIFY telemetryRXErrorsChanged)
    Q_PROPERTY(unsigned int         telemetryFixed          READ telemetryFixed                                         NOTIFY telemetryFixedChanged)
    Q_PROPERTY(unsigned int         telemetryTXBuffer       READ telemetryTXBuffer                                      NOTIFY telemetryTXBufferChanged)
618 619
    Q_PROPERTY(int                  telemetryLNoise         READ telemetryLNoise                                        NOTIFY telemetryLNoiseChanged)
    Q_PROPERTY(int                  telemetryRNoise         READ telemetryRNoise                                        NOTIFY telemetryRNoiseChanged)
620
    Q_PROPERTY(QVariantList         toolBarIndicators       READ toolBarIndicators                                      NOTIFY toolBarIndicatorsChanged)
621
    Q_PROPERTY(QmlObjectListModel*  adsbVehicles            READ adsbVehicles                                           CONSTANT)
Don Gagne's avatar
Don Gagne committed
622
    Q_PROPERTY(bool              initialPlanRequestComplete READ initialPlanRequestComplete                             NOTIFY initialPlanRequestCompleteChanged)
Gus Grubba's avatar
Gus Grubba committed
623
    Q_PROPERTY(QVariantList         staticCameraList        READ staticCameraList                                       CONSTANT)
624
    Q_PROPERTY(QGCCameraManager*    dynamicCameras          READ dynamicCameras                                         NOTIFY dynamicCamerasChanged)
625
    Q_PROPERTY(QString              hobbsMeter              READ hobbsMeter                                             NOTIFY hobbsMeterChanged)
626
    Q_PROPERTY(bool                 vtolInFwdFlight         READ vtolInFwdFlight        WRITE setVtolInFwdFlight        NOTIFY vtolInFwdFlightChanged)
627
    Q_PROPERTY(bool                 highLatencyLink         READ highLatencyLink                                        NOTIFY highLatencyLinkChanged)
628
    Q_PROPERTY(bool                 supportsTerrainFrame    READ supportsTerrainFrame                                   NOTIFY firmwareTypeChanged)
629
    Q_PROPERTY(QString              priorityLinkName        READ priorityLinkName       WRITE setPriorityLinkByName     NOTIFY priorityLinkNameChanged)
630
    Q_PROPERTY(QVariantList         links                   READ links                                                  NOTIFY linksChanged)
631
    Q_PROPERTY(LinkInterface*       priorityLink            READ priorityLink                                           NOTIFY priorityLinkNameChanged)
632 633 634 635
    Q_PROPERTY(quint64              mavlinkSentCount        READ mavlinkSentCount                                       NOTIFY mavlinkStatusChanged)
    Q_PROPERTY(quint64              mavlinkReceivedCount    READ mavlinkReceivedCount                                   NOTIFY mavlinkStatusChanged)
    Q_PROPERTY(quint64              mavlinkLossCount        READ mavlinkLossCount                                       NOTIFY mavlinkStatusChanged)
    Q_PROPERTY(float                mavlinkLossPercent      READ mavlinkLossPercent                                     NOTIFY mavlinkStatusChanged)
Gus Grubba's avatar
Gus Grubba committed
636 637 638 639
    Q_PROPERTY(qreal                gimbalRoll              READ gimbalRoll                                             NOTIFY gimbalRollChanged)
    Q_PROPERTY(qreal                gimbalPitch             READ gimbalPitch                                            NOTIFY gimbalPitchChanged)
    Q_PROPERTY(qreal                gimbalYaw               READ gimbalYaw                                              NOTIFY gimbalYawChanged)
    Q_PROPERTY(bool                 gimbalData              READ gimbalData                                             NOTIFY gimbalDataChanged)
640

641 642 643 644
    // The following properties relate to Orbit status
    Q_PROPERTY(bool             orbitActive     READ orbitActive        NOTIFY orbitActiveChanged)
    Q_PROPERTY(QGCMapCircle*    orbitMapCircle  READ orbitMapCircle     CONSTANT)

645
    // Vehicle state used for guided control
Don Gagne's avatar
Don Gagne committed
646 647 648 649 650 651 652 653
    Q_PROPERTY(bool     flying                  READ flying                                         NOTIFY flyingChanged)       ///< Vehicle is flying
    Q_PROPERTY(bool     landing                 READ landing                                        NOTIFY landingChanged)      ///< Vehicle is in landing pattern (DO_LAND_START)
    Q_PROPERTY(bool     guidedMode              READ guidedMode                 WRITE setGuidedMode NOTIFY guidedModeChanged)   ///< Vehicle is in Guided mode and can respond to guided commands
    Q_PROPERTY(bool     guidedModeSupported     READ guidedModeSupported                            CONSTANT)                   ///< Guided mode commands are supported by this vehicle
    Q_PROPERTY(bool     pauseVehicleSupported   READ pauseVehicleSupported                          CONSTANT)                   ///< Pause vehicle command is supported
    Q_PROPERTY(bool     orbitModeSupported      READ orbitModeSupported                             CONSTANT)                   ///< Orbit mode is supported by this vehicle
    Q_PROPERTY(bool     takeoffVehicleSupported READ takeoffVehicleSupported                        CONSTANT)                   ///< Guided takeoff supported
    Q_PROPERTY(QString  gotoFlightMode          READ gotoFlightMode                                 CONSTANT)                   ///< Flight mode vehicle is in while performing goto
654

655 656
    Q_PROPERTY(ParameterManager* parameterManager READ parameterManager CONSTANT)

Don Gagne's avatar
Don Gagne committed
657 658 659 660 661
    // FactGroup object model properties

    Q_PROPERTY(Fact* roll               READ roll               CONSTANT)
    Q_PROPERTY(Fact* pitch              READ pitch              CONSTANT)
    Q_PROPERTY(Fact* heading            READ heading            CONSTANT)
DonLakeFlyer's avatar
DonLakeFlyer committed
662 663 664
    Q_PROPERTY(Fact* rollRate           READ rollRate           CONSTANT)
    Q_PROPERTY(Fact* pitchRate          READ pitchRate          CONSTANT)
    Q_PROPERTY(Fact* yawRate            READ yawRate            CONSTANT)
Don Gagne's avatar
Don Gagne committed
665 666 667 668 669
    Q_PROPERTY(Fact* groundSpeed        READ groundSpeed        CONSTANT)
    Q_PROPERTY(Fact* airSpeed           READ airSpeed           CONSTANT)
    Q_PROPERTY(Fact* climbRate          READ climbRate          CONSTANT)
    Q_PROPERTY(Fact* altitudeRelative   READ altitudeRelative   CONSTANT)
    Q_PROPERTY(Fact* altitudeAMSL       READ altitudeAMSL       CONSTANT)
670
    Q_PROPERTY(Fact* flightDistance     READ flightDistance     CONSTANT)
671
    Q_PROPERTY(Fact* distanceToHome     READ distanceToHome     CONSTANT)
672
    Q_PROPERTY(Fact* headingToHome      READ headingToHome      CONSTANT)
673
    Q_PROPERTY(Fact* distanceToGCS      READ distanceToGCS      CONSTANT)
674
    Q_PROPERTY(Fact* hobbs              READ hobbs              CONSTANT)
675
    Q_PROPERTY(Fact* throttlePct        READ throttlePct        CONSTANT)
Don Gagne's avatar
Don Gagne committed
676

677 678 679 680 681 682 683 684 685
    Q_PROPERTY(FactGroup* gps               READ gpsFactGroup               CONSTANT)
    Q_PROPERTY(FactGroup* battery           READ battery1FactGroup          CONSTANT)
    Q_PROPERTY(FactGroup* battery2          READ battery2FactGroup          CONSTANT)
    Q_PROPERTY(FactGroup* wind              READ windFactGroup              CONSTANT)
    Q_PROPERTY(FactGroup* vibration         READ vibrationFactGroup         CONSTANT)
    Q_PROPERTY(FactGroup* temperature       READ temperatureFactGroup       CONSTANT)
    Q_PROPERTY(FactGroup* clock             READ clockFactGroup             CONSTANT)
    Q_PROPERTY(FactGroup* setpoint          READ setpointFactGroup          CONSTANT)
    Q_PROPERTY(FactGroup* estimatorStatus   READ estimatorStatusFactGroup   CONSTANT)
Don Gagne's avatar
Don Gagne committed
686

687 688 689 690 691 692 693 694 695
    Q_PROPERTY(int      firmwareMajorVersion        READ firmwareMajorVersion       NOTIFY firmwareVersionChanged)
    Q_PROPERTY(int      firmwareMinorVersion        READ firmwareMinorVersion       NOTIFY firmwareVersionChanged)
    Q_PROPERTY(int      firmwarePatchVersion        READ firmwarePatchVersion       NOTIFY firmwareVersionChanged)
    Q_PROPERTY(int      firmwareVersionType         READ firmwareVersionType        NOTIFY firmwareVersionChanged)
    Q_PROPERTY(QString  firmwareVersionTypeString   READ firmwareVersionTypeString  NOTIFY firmwareVersionChanged)
    Q_PROPERTY(int      firmwareCustomMajorVersion  READ firmwareCustomMajorVersion NOTIFY firmwareCustomVersionChanged)
    Q_PROPERTY(int      firmwareCustomMinorVersion  READ firmwareCustomMinorVersion NOTIFY firmwareCustomVersionChanged)
    Q_PROPERTY(int      firmwareCustomPatchVersion  READ firmwareCustomPatchVersion NOTIFY firmwareCustomVersionChanged)
    Q_PROPERTY(QString  gitHash                     READ gitHash                    NOTIFY gitHashChanged)
Gus Grubba's avatar
Gus Grubba committed
696 697
    Q_PROPERTY(quint64  vehicleUID                  READ vehicleUID                 NOTIFY vehicleUIDChanged)
    Q_PROPERTY(QString  vehicleUIDStr               READ vehicleUIDStr              NOTIFY vehicleUIDChanged)
698

699 700
    /// Resets link status counters
    Q_INVOKABLE void resetCounters  ();
701

dogmaphobic's avatar
dogmaphobic committed
702 703 704
    // Called when the message drop-down is invoked to clear current count
    Q_INVOKABLE void        resetMessages();

Gus Grubba's avatar
Gus Grubba committed
705
    Q_INVOKABLE void virtualTabletJoystickValue(double roll, double pitch, double yaw, double thrust);
Don Gagne's avatar
Don Gagne committed
706
    Q_INVOKABLE void disconnectInactiveVehicle(void);
Don Gagne's avatar
Don Gagne committed
707

Don Gagne's avatar
Don Gagne committed
708
    /// Command vehicle to return to launch
DonLakeFlyer's avatar
DonLakeFlyer committed
709
    Q_INVOKABLE void guidedModeRTL(bool smartRTL);
Don Gagne's avatar
Don Gagne committed
710 711 712 713 714

    /// Command vehicle to land at current location
    Q_INVOKABLE void guidedModeLand(void);

    /// Command vehicle to takeoff from current location
715
    Q_INVOKABLE void guidedModeTakeoff(double altitudeRelative);
Don Gagne's avatar
Don Gagne committed
716

717 718 719
    /// @return The minimum takeoff altitude (relative) for guided takeoff.
    Q_INVOKABLE double minimumTakeoffAltitude(void);

Don Gagne's avatar
Don Gagne committed
720 721 722
    /// Command vehicle to move to specified location (altitude is included and relative)
    Q_INVOKABLE void guidedModeGotoLocation(const QGeoCoordinate& gotoCoord);

723 724 725
    /// Command vehicle to change altitude
    ///     @param altitudeChange If > 0, go up by amount specified, if < 0, go down by amount specified
    Q_INVOKABLE void guidedModeChangeAltitude(double altitudeChange);
Don Gagne's avatar
Don Gagne committed
726

727
    /// Command vehicle to orbit given center point
DonLakeFlyer's avatar
DonLakeFlyer committed
728
    ///     @param centerCoord Orit around this point
729
    ///     @param radius Distance from vehicle to centerCoord
DonLakeFlyer's avatar
DonLakeFlyer committed
730 731
    ///     @param amslAltitude Desired vehicle altitude
    Q_INVOKABLE void guidedModeOrbit(const QGeoCoordinate& centerCoord, double radius, double amslAltitude);
732

Don Gagne's avatar
Don Gagne committed
733 734 735 736 737 738 739
    /// Command vehicle to pause at current location. If vehicle supports guide mode, vehicle will be left
    /// in guided mode after pause.
    Q_INVOKABLE void pauseVehicle(void);

    /// Command vehicle to kill all motors no matter what state
    Q_INVOKABLE void emergencyStop(void);

740
    /// Command vehicle to abort landing
741
    Q_INVOKABLE void abortLanding(double climbOutAltitude);
742

743 744
    Q_INVOKABLE void startMission(void);

745 746 747
    /// Alter the current mission item on the vehicle
    Q_INVOKABLE void setCurrentMissionSequence(int seq);

748 749 750
    /// Reboot vehicle
    Q_INVOKABLE void rebootVehicle();

dogmaphobic's avatar
dogmaphobic committed
751 752 753
    /// Clear Messages
    Q_INVOKABLE void clearMessages();

Don Gagne's avatar
Don Gagne committed
754
    Q_INVOKABLE void triggerCamera(void);
Don Gagne's avatar
Don Gagne committed
755
    Q_INVOKABLE void sendPlan(QString planFile);
Don Gagne's avatar
Don Gagne committed
756

757 758 759 760 761
    /// Used to check if running current version is equal or higher than the one being compared.
    //  returns 1 if current > compare, 0 if current == compare, -1 if current < compare
    Q_INVOKABLE int versionCompare(QString& compare);
    Q_INVOKABLE int versionCompare(int major, int minor, int patch);

Don Gagne's avatar
Don Gagne committed
762 763 764
    /// Test motor
    ///     @param motor Motor number, 1-based
    ///     @param percent 0-no power, 100-full power
765
    Q_INVOKABLE void motorTest(int motor, int percent);
Don Gagne's avatar
Don Gagne committed
766

Don Gagne's avatar
Don Gagne committed
767 768
    Q_INVOKABLE void setPIDTuningTelemetryMode(bool pidTuning);

Gus Grubba's avatar
Gus Grubba committed
769 770 771 772
    Q_INVOKABLE void gimbalControlValue (double pitch, double yaw);
    Q_INVOKABLE void gimbalPitchStep    (int direction);
    Q_INVOKABLE void gimbalYawStep      (int direction);
    Q_INVOKABLE void centerGimbal       ();
773

774 775 776 777
#if !defined(NO_ARDUPILOT_DIALECT)
    Q_INVOKABLE void flashBootloader(void);
#endif

Don Gagne's avatar
Don Gagne committed
778 779 780 781 782
    bool    guidedModeSupported     (void) const;
    bool    pauseVehicleSupported   (void) const;
    bool    orbitModeSupported      (void) const;
    bool    takeoffVehicleSupported (void) const;
    QString gotoFlightMode          (void) const;
Don Gagne's avatar
Don Gagne committed
783

784
    // Property accessors
Don Gagne's avatar
Don Gagne committed
785

786
    QGeoCoordinate coordinate(void) { return _coordinate; }
dogmaphobic's avatar
dogmaphobic committed
787

788
    typedef enum {
789
        JoystickModeRC,         ///< Joystick emulates an RC Transmitter
790 791 792 793 794 795
        JoystickModeAttitude,
        JoystickModePosition,
        JoystickModeForce,
        JoystickModeVelocity,
        JoystickModeMax
    } JoystickMode_t;
dogmaphobic's avatar
dogmaphobic committed
796

797 798
    int joystickMode(void);
    void setJoystickMode(int mode);
dogmaphobic's avatar
dogmaphobic committed
799

800 801
    /// List of joystick mode names
    QStringList joystickModes(void);
dogmaphobic's avatar
dogmaphobic committed
802

803 804
    bool joystickEnabled(void);
    void setJoystickEnabled(bool enabled);
dogmaphobic's avatar
dogmaphobic committed
805

806 807 808
    // Is vehicle active with respect to current active vehicle in QGC
    bool active(void);
    void setActive(bool active);
dogmaphobic's avatar
dogmaphobic committed
809

810 811
    // Property accesors
    int id(void) { return _id; }
812 813
    MAV_AUTOPILOT firmwareType(void) const { return _firmwareType; }
    MAV_TYPE vehicleType(void) const { return _vehicleType; }
814
    Q_INVOKABLE QString vehicleTypeName(void) const;
dogmaphobic's avatar
dogmaphobic committed
815

Patrick José Pereira's avatar
Patrick José Pereira committed
816
    /// Returns the highest quality link available to the Vehicle. If you need to hold a reference to this link use
817 818
    /// LinkManager::sharedLinkInterfaceForGet to get QSharedPointer for link.
    LinkInterface* priorityLink(void) { return _priorityLink.data(); }
819 820 821 822 823

    /// Sends a message to the specified link
    /// @return true: message sent, false: Link no longer connected
    bool sendMessageOnLink(LinkInterface* link, mavlink_message_t message);

824 825 826
    /// Sends the specified messages multiple times to the vehicle in order to attempt to
    /// guarantee that it makes it to the vehicle.
    void sendMessageMultiple(mavlink_message_t message);
dogmaphobic's avatar
dogmaphobic committed
827

828 829
    /// Provides access to uas from vehicle. Temporary workaround until UAS is fully phased out.
    UAS* uas(void) { return _uas; }
dogmaphobic's avatar
dogmaphobic committed
830

831 832
    /// Provides access to uas from vehicle. Temporary workaround until AutoPilotPlugin is fully phased out.
    AutoPilotPlugin* autopilotPlugin(void) { return _autopilotPlugin; }
dogmaphobic's avatar
dogmaphobic committed
833

Don Gagne's avatar
Don Gagne committed
834 835
    /// Provides access to the Firmware Plugin for this Vehicle
    FirmwarePlugin* firmwarePlugin(void) { return _firmwarePlugin; }
dogmaphobic's avatar
dogmaphobic committed
836

837 838 839
    MissionManager*     missionManager(void)    { return _missionManager; }
    GeoFenceManager*    geoFenceManager(void)   { return _geoFenceManager; }
    RallyPointManager*  rallyPointManager(void) { return _rallyPointManager; }
dogmaphobic's avatar
dogmaphobic committed
840

841
    QGeoCoordinate homePosition(void);
dogmaphobic's avatar
dogmaphobic committed
842

Gus Grubba's avatar
Gus Grubba committed
843 844
    bool armed      () { return _armed; }
    void setArmed   (bool armed);
Don Gagne's avatar
Don Gagne committed
845 846 847

    bool flightModeSetAvailable(void);
    QStringList flightModes(void);
Don Gagne's avatar
Don Gagne committed
848
    QString flightMode(void) const;
Don Gagne's avatar
Don Gagne committed
849 850
    void setFlightMode(const QString& flightMode);

851
    QString priorityLinkName(void) const;
852
    QVariantList links(void) const;
853 854
    void setPriorityLinkByName(const QString& priorityLinkName);

Don Gagne's avatar
Don Gagne committed
855 856
    bool hilMode(void);
    void setHilMode(bool hilMode);
dogmaphobic's avatar
dogmaphobic committed
857

858 859
    bool fixedWing(void) const;
    bool multiRotor(void) const;
Don Gagne's avatar
Don Gagne committed
860
    bool vtol(void) const;
Don Gagne's avatar
Don Gagne committed
861
    bool rover(void) const;
862
    bool sub(void) const;
863

864
    bool supportsThrottleModeCenterZero (void) const;
865
    bool supportsNegativeThrust         (void);
866 867 868 869
    bool supportsRadio                  (void) const;
    bool supportsJSButton               (void) const;
    bool supportsMotorInterference      (void) const;
    bool supportsTerrainFrame           (void) const;
870

Don Gagne's avatar
Don Gagne committed
871 872
    void setGuidedMode(bool guidedMode);

Don Gagne's avatar
Don Gagne committed
873 874 875
    QString prearmError(void) const { return _prearmError; }
    void setPrearmError(const QString& prearmError);

876
    QmlObjectListModel* trajectoryPoints(void) { return &_mapTrajectoryList; }
877
    QmlObjectListModel* cameraTriggerPoints(void) { return &_cameraTriggerPoints; }
878
    QmlObjectListModel* adsbVehicles(void) { return &_adsbVehicles; }
dogmaphobic's avatar
dogmaphobic committed
879 880 881

    int  flowImageIndex() { return _flowImageIndex; }

882 883 884 885
    //-- Mavlink Logging
    void startMavlinkLog();
    void stopMavlinkLog();

886 887 888
    /// Requests the specified data stream from the vehicle
    ///     @param stream Stream which is being requested
    ///     @param rate Rate at which to send stream in Hz
889 890
    ///     @param sendMultiple Send multiple time to guarantee Vehicle reception
    void requestDataStream(MAV_DATA_STREAM stream, uint16_t rate, bool sendMultiple = true);
dogmaphobic's avatar
dogmaphobic committed
891

892 893 894 895 896 897
    typedef enum {
        MessageNone,
        MessageNormal,
        MessageWarning,
        MessageError
    } MessageType_t;
dogmaphobic's avatar
dogmaphobic committed
898

899 900 901 902 903 904 905 906 907
    bool            messageTypeNone         () { return _currentMessageType == MessageNone; }
    bool            messageTypeNormal       () { return _currentMessageType == MessageNormal; }
    bool            messageTypeWarning      () { return _currentMessageType == MessageWarning; }
    bool            messageTypeError        () { return _currentMessageType == MessageError; }
    int             newMessageCount         () { return _currentMessageCount; }
    int             messageCount            () { return _messageCount; }
    QString         formatedMessages        ();
    QString         formatedMessage         () { return _formatedMessage; }
    QString         latestError             () { return _latestError; }
908 909 910
    float           latitude                () { return static_cast<float>(_coordinate.latitude()); }
    float           longitude               () { return static_cast<float>(_coordinate.longitude()); }
    bool            mavPresent              () { return _mav != nullptr; }
911 912 913 914 915 916 917 918 919 920
    int             rcRSSI                  () { return _rcRSSI; }
    bool            px4Firmware             () const { return _firmwareType == MAV_AUTOPILOT_PX4; }
    bool            apmFirmware             () const { return _firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA; }
    bool            genericFirmware         () const { return !px4Firmware() && !apmFirmware(); }
    bool            connectionLost          () const { return _connectionLost; }
    bool            connectionLostEnabled   () const { return _connectionLostEnabled; }
    uint            messagesReceived        () { return _messagesReceived; }
    uint            messagesSent            () { return _messagesSent; }
    uint            messagesLost            () { return _messagesLost; }
    bool            flying                  () const { return _flying; }
921
    bool            landing                 () const { return _landing; }
922
    bool            guidedMode              () const;
923
    bool            vtolInFwdFlight         () const { return _vtolInFwdFlight; }
924 925 926
    uint8_t         baseMode                () const { return _base_mode; }
    uint32_t        customMode              () const { return _custom_mode; }
    bool            isOfflineEditingVehicle () const { return _offlineEditingVehicle; }
927 928
    QString         brandImageIndoor        () const;
    QString         brandImageOutdoor       () const;
929
    QStringList     unhealthySensors        () const;
930 931 932 933
    int             sensorsPresentBits      () const { return static_cast<int>(_onboardControlSensorsPresent); }
    int             sensorsEnabledBits      () const { return static_cast<int>(_onboardControlSensorsEnabled); }
    int             sensorsHealthBits       () const { return static_cast<int>(_onboardControlSensorsHealth); }
    int             sensorsUnhealthyBits    () const { return static_cast<int>(_onboardControlSensorsUnhealthy); }
934
    QString         missionFlightMode       () const;
935
    QString         pauseFlightMode         () const;
936
    QString         rtlFlightMode           () const;
DonLakeFlyer's avatar
DonLakeFlyer committed
937 938
    QString         smartRTLFlightMode      () const;
    bool            supportsSmartRTL        () const;
939
    QString         landFlightMode          () const;
940
    QString         takeControlFlightMode   () const;
DonLakeFlyer's avatar
DonLakeFlyer committed
941 942
    double          defaultCruiseSpeed      () const { return _defaultCruiseSpeed; }
    double          defaultHoverSpeed       () const { return _defaultHoverSpeed; }
943
    QString         firmwareTypeString      () const;
Gus Grubba's avatar
Gus Grubba committed
944 945 946 947 948 949
    QString         vehicleTypeString       () const;
    int             telemetryRRSSI          () { return _telemetryRRSSI; }
    int             telemetryLRSSI          () { return _telemetryLRSSI; }
    unsigned int    telemetryRXErrors       () { return _telemetryRXErrors; }
    unsigned int    telemetryFixed          () { return _telemetryFixed; }
    unsigned int    telemetryTXBuffer       () { return _telemetryTXBuffer; }
950 951
    int             telemetryLNoise         () { return _telemetryLNoise; }
    int             telemetryRNoise         () { return _telemetryRNoise; }
952
    bool            autoDisarm              ();
953
    bool            highLatencyLink         () const { return _highLatencyLink; }
954 955 956
    bool            orbitActive             () const { return _orbitActive; }
    QGCMapCircle*   orbitMapCircle          () { return &_orbitMapCircle; }

957 958 959
    /// Get the maximum MAVLink protocol version supported
    /// @return the maximum version
    unsigned        maxProtoVersion         () const { return _maxProtoVersion; }
960

Don Gagne's avatar
Don Gagne committed
961 962
    Fact* roll              (void) { return &_rollFact; }
    Fact* pitch             (void) { return &_pitchFact; }
DonLakeFlyer's avatar
DonLakeFlyer committed
963 964 965 966
    Fact* heading           (void) { return &_headingFact; }
    Fact* rollRate          (void) { return &_rollRateFact; }
    Fact* pitchRate         (void) { return &_pitchRateFact; }
    Fact* yawRate           (void) { return &_yawRateFact; }
Don Gagne's avatar
Don Gagne committed
967 968 969 970 971
    Fact* airSpeed          (void) { return &_airSpeedFact; }
    Fact* groundSpeed       (void) { return &_groundSpeedFact; }
    Fact* climbRate         (void) { return &_climbRateFact; }
    Fact* altitudeRelative  (void) { return &_altitudeRelativeFact; }
    Fact* altitudeAMSL      (void) { return &_altitudeAMSLFact; }
972
    Fact* flightDistance    (void) { return &_flightDistanceFact; }
973
    Fact* distanceToHome    (void) { return &_distanceToHomeFact; }
974
    Fact* headingToHome     (void) { return &_headingToHomeFact; }
975
    Fact* distanceToGCS     (void) { return &_distanceToGCSFact; }
976
    Fact* hobbs             (void) { return &_hobbsFact; }
977
    Fact* throttlePct       (void) { return &_throttlePctFact; }
Don Gagne's avatar
Don Gagne committed
978

979
    FactGroup* gpsFactGroup             (void) { return &_gpsFactGroup; }
DonLakeFlyer's avatar
DonLakeFlyer committed
980 981
    FactGroup* battery1FactGroup        (void) { return &_battery1FactGroup; }
    FactGroup* battery2FactGroup        (void) { return &_battery2FactGroup; }
982 983 984 985 986 987
    FactGroup* windFactGroup            (void) { return &_windFactGroup; }
    FactGroup* vibrationFactGroup       (void) { return &_vibrationFactGroup; }
    FactGroup* temperatureFactGroup     (void) { return &_temperatureFactGroup; }
    FactGroup* clockFactGroup           (void) { return &_clockFactGroup; }
    FactGroup* setpointFactGroup        (void) { return &_setpointFactGroup; }
    FactGroup* distanceSensorFactGroup  (void) { return &_distanceSensorFactGroup; }
988
    FactGroup* estimatorStatusFactGroup (void) { return &_estimatorStatusFactGroup; }
Don Gagne's avatar
Don Gagne committed
989

990
    void setConnectionLostEnabled(bool connectionLostEnabled);
991

992 993
    ParameterManager* parameterManager(void) { return _parameterManager; }
    ParameterManager* parameterManager(void) const { return _parameterManager; }
dogmaphobic's avatar
dogmaphobic committed
994

Don Gagne's avatar
Don Gagne committed
995 996
    static const int cMaxRcChannels = 18;

Don Gagne's avatar
Don Gagne committed
997
    bool containsLink(LinkInterface* link) { return _links.contains(link); }
998 999 1000 1001 1002 1003

    /// Sends the specified MAV_CMD to the vehicle. If no Ack is received command will be retried. If a sendMavCommand is already in progress
    /// the command will be queued and sent when the previous command completes.
    ///     @param component Component to send to
    ///     @param command MAV_CMD to send
    ///     @param showError true: Display error to user if command failed, false:  no error shown
DonLakeFlyer's avatar
DonLakeFlyer committed
1004
    /// Signals: mavCommandResult on success or failure
1005
    void sendMavCommand(int component, MAV_CMD command, bool showError, float param1 = 0.0f, float param2 = 0.0f, float param3 = 0.0f, float param4 = 0.0f, float param5 = 0.0f, float param6 = 0.0f, float param7 = 0.0f);
1006
    void sendMavCommandInt(int component, MAV_CMD command, MAV_FRAME frame, bool showError, float param1, float param2, float param3, float param4, double param5, double param6, float param7);
Don Gagne's avatar
Don Gagne committed
1007

1008
    /// Same as sendMavCommand but available from Qml.
1009 1010 1011 1012 1013 1014 1015 1016 1017 1018 1019 1020 1021
    Q_INVOKABLE void sendCommand(int component, int command, bool showError, double param1 = 0.0, double param2 = 0.0, double param3 = 0.0, double param4 = 0.0, double param5 = 0.0, double param6 = 0.0, double param7 = 0.0)
    {
        sendMavCommand(
            component, static_cast<MAV_CMD>(command),
            showError,
            static_cast<float>(param1),
            static_cast<float>(param2),
            static_cast<float>(param3),
            static_cast<float>(param4),
            static_cast<float>(param5),
            static_cast<float>(param6),
            static_cast<float>(param7));
    }
1022

Don Gagne's avatar
Don Gagne committed
1023 1024 1025
    int firmwareMajorVersion(void) const { return _firmwareMajorVersion; }
    int firmwareMinorVersion(void) const { return _firmwareMinorVersion; }
    int firmwarePatchVersion(void) const { return _firmwarePatchVersion; }
1026
    int firmwareVersionType(void) const { return _firmwareVersionType; }
1027 1028 1029
    int firmwareCustomMajorVersion(void) const { return _firmwareCustomMajorVersion; }
    int firmwareCustomMinorVersion(void) const { return _firmwareCustomMinorVersion; }
    int firmwareCustomPatchVersion(void) const { return _firmwareCustomPatchVersion; }
1030 1031
    QString firmwareVersionTypeString(void) const;
    void setFirmwareVersion(int majorVersion, int minorVersion, int patchVersion, FIRMWARE_VERSION_TYPE versionType = FIRMWARE_VERSION_TYPE_OFFICIAL);
1032
    void setFirmwareCustomVersion(int majorVersion, int minorVersion, int patchVersion);
1033
    static const int versionNotSetValue = -1;
Don Gagne's avatar
Don Gagne committed
1034

1035
    QString gitHash(void) const { return _gitHash; }
Gus Grubba's avatar
Gus Grubba committed
1036 1037
    quint64 vehicleUID(void) const { return _uid; }
    QString vehicleUIDStr();
1038

1039 1040 1041
    bool soloFirmware(void) const { return _soloFirmware; }
    void setSoloFirmware(bool soloFirmware);

1042 1043 1044 1045
    int defaultComponentId(void) { return _defaultComponentId; }

    /// Sets the default component id for an offline editing vehicle
    void setOfflineEditingDefaultComponentId(int defaultComponentId);
Don Gagne's avatar
Don Gagne committed
1046

Don Gagne's avatar
Don Gagne committed
1047 1048 1049 1050 1051 1052 1053 1054 1055
    /// @return -1 = Unknown, Number of motors on vehicle
    int motorCount(void);

    /// @return true: Motors are coaxial like an X8 config, false: Quadcopter for example
    bool coaxialMotors(void);

    /// @return true: X confiuration, false: Plus configuration
    bool xConfigMotors(void);

1056 1057 1058 1059 1060 1061 1062
    /// @return Firmware plugin instance data associated with this Vehicle
    QObject* firmwarePluginInstanceData(void) { return _firmwarePluginInstanceData; }

    /// Sets the firmware plugin instance data associated with this Vehicle. This object will be parented to the Vehicle
    /// and destroyed when the vehicle goes away.
    void setFirmwarePluginInstanceData(QObject* firmwarePluginInstanceData);

1063 1064 1065 1066
    QString vehicleImageOpaque  () const;
    QString vehicleImageOutline () const;
    QString vehicleImageCompass () const;

1067
    const QVariantList&         toolBarIndicators   ();
Gus Grubba's avatar
Gus Grubba committed
1068
    const QVariantList&         staticCameraList    (void) const;
1069

1070 1071
    bool capabilitiesKnown      (void) const { return _vehicleCapabilitiesKnown; }
    uint64_t capabilityBits     (void) const { return _capabilityBits; }    // Change signalled by capabilityBitsChanged
1072

1073
    QGCCameraManager*           dynamicCameras      () { return _cameras; }
1074
    QString                     hobbsMeter          ();
1075

1076 1077 1078
    /// @true: When flying a mission the vehicle is always facing towards the next waypoint
    bool vehicleYawsToNextWaypointInMission(void) const;

DonLakeFlyer's avatar
DonLakeFlyer committed
1079 1080 1081 1082
    /// The vehicle is responsible for making the initial request for the Plan.
    /// @return: true: initial request is complete, false: initial request is still in progress;
    bool initialPlanRequestComplete(void) const { return _initialPlanRequestComplete; }

Don Gagne's avatar
Don Gagne committed
1083
    void forceInitialPlanRequestComplete(void);
1084

1085 1086
    void _setFlying(bool flying);
    void _setLanding(bool landing);
DonLakeFlyer's avatar
DonLakeFlyer committed
1087
    void _setHomePosition(QGeoCoordinate& homeCoord);
1088
    void _setMaxProtoVersion (unsigned version);
DonLakeFlyer's avatar
DonLakeFlyer committed
1089

1090 1091 1092
    /// Vehicle is about to be deleted
    void prepareDelete();

1093 1094 1095 1096 1097
    quint64     mavlinkSentCount        () { return _mavlinkSentCount; }        /// Calculated total number of messages sent to us
    quint64     mavlinkReceivedCount    () { return _mavlinkReceivedCount; }    /// Total number of sucessful messages received
    quint64     mavlinkLossCount        () { return _mavlinkLossCount; }        /// Total number of lost messages
    float       mavlinkLossPercent      () { return _mavlinkLossPercent; }      /// Running loss rate

Gus Grubba's avatar
Gus Grubba committed
1098 1099 1100 1101 1102
    qreal       gimbalRoll              () { return static_cast<qreal>(_curGimbalRoll);}
    qreal       gimbalPitch             () { return static_cast<qreal>(_curGimbalPitch); }
    qreal       gimbalYaw               () { return static_cast<qreal>(_curGinmbalYaw); }
    bool        gimbalData              () { return _haveGimbalData; }

Gus Grubba's avatar
Gus Grubba committed
1103 1104 1105
public slots:
    void setVtolInFwdFlight             (bool vtolInFwdFlight);

1106
signals:
Don Gagne's avatar
Don Gagne committed
1107
    void allLinksInactive(Vehicle* vehicle);
1108
    void coordinateChanged(QGeoCoordinate coordinate);
1109
    void joystickModeChanged(int mode);
1110 1111
    void joystickEnabledChanged(bool enabled);
    void activeChanged(bool active);
Don Gagne's avatar
Don Gagne committed
1112
    void mavlinkMessageReceived(const mavlink_message_t& message);
1113
    void homePositionChanged(const QGeoCoordinate& homePosition);
Don Gagne's avatar
Don Gagne committed
1114 1115 1116
    void armedChanged(bool armed);
    void flightModeChanged(const QString& flightMode);
    void hilModeChanged(bool hilMode);
1117 1118
    /** @brief HIL actuator controls (replaces HIL controls) */
    void hilActuatorControlsChanged(quint64 time, quint64 flags, float ctl_0, float ctl_1, float ctl_2, float ctl_3, float ctl_4, float ctl_5, float ctl_6, float ctl_7, float ctl_8, float ctl_9, float ctl_10, float ctl_11, float ctl_12, float ctl_13, float ctl_14, float ctl_15, quint8 mode);
1119 1120
    void connectionLostChanged(bool connectionLost);
    void connectionLostEnabledChanged(bool connectionLostEnabled);
Don Gagne's avatar
Don Gagne committed
1121
    void autoDisconnectChanged(bool autoDisconnectChanged);
Don Gagne's avatar
Don Gagne committed
1122
    void flyingChanged(bool flying);
1123
    void landingChanged(bool landing);
Don Gagne's avatar
Don Gagne committed
1124
    void guidedModeChanged(bool guidedMode);
1125
    void vtolInFwdFlightChanged(bool vtolInFwdFlight);
Don Gagne's avatar
Don Gagne committed
1126
    void prearmErrorChanged(const QString& prearmError);
1127
    void soloFirmwareChanged(bool soloFirmware);
1128
    void unhealthySensorsChanged(void);
DonLakeFlyer's avatar
DonLakeFlyer committed
1129 1130
    void defaultCruiseSpeedChanged(double cruiseSpeed);
    void defaultHoverSpeedChanged(double hoverSpeed);
1131 1132
    void firmwareTypeChanged(void);
    void vehicleTypeChanged(void);
1133
    void dynamicCamerasChanged();
1134
    void hobbsMeterChanged();
1135
    void capabilitiesKnownChanged(bool capabilitiesKnown);
Don Gagne's avatar
Don Gagne committed
1136
    void initialPlanRequestCompleteChanged(bool initialPlanRequestComplete);
1137
    void capabilityBitsChanged(uint64_t capabilityBits);
1138
    void toolBarIndicatorsChanged(void);
1139
    void highLatencyLinkChanged(bool highLatencyLink);
1140
    void priorityLinkNameChanged(const QString& priorityLinkName);
1141 1142
    void linksChanged(void);
    void linksPropertiesChanged(void);
1143
    void textMessageReceived(int uasid, int componentid, int severity, QString text);
dogmaphobic's avatar
dogmaphobic committed
1144

1145 1146 1147 1148
    void messagesReceivedChanged    ();
    void messagesSentChanged        ();
    void messagesLostChanged        ();

1149
    /// Used internally to move sendMessage call to main thread
1150
    void _sendMessageOnLinkOnThread(LinkInterface* link, mavlink_message_t message);
dogmaphobic's avatar
dogmaphobic committed
1151

Gus Grubba's avatar
Gus Grubba committed
1152 1153 1154 1155 1156 1157 1158 1159 1160 1161 1162 1163 1164 1165 1166
    void messageTypeChanged         ();
    void newMessageCountChanged     ();
    void messageCountChanged        ();
    void formatedMessagesChanged    ();
    void formatedMessageChanged     ();
    void latestErrorChanged         ();
    void longitudeChanged           ();
    void currentConfigChanged       ();
    void flowImageIndexChanged      ();
    void rcRSSIChanged              (int rcRSSI);
    void telemetryRRSSIChanged      (int value);
    void telemetryLRSSIChanged      (int value);
    void telemetryRXErrorsChanged   (unsigned int value);
    void telemetryFixedChanged      (unsigned int value);
    void telemetryTXBufferChanged   (unsigned int value);
1167 1168
    void telemetryLNoiseChanged     (int value);
    void telemetryRNoiseChanged     (int value);
1169
    void autoDisarmChanged          (void);
1170
    void flightModesChanged         (void);
1171 1172 1173
    void sensorsPresentBitsChanged  (int sensorsPresentBits);
    void sensorsEnabledBitsChanged  (int sensorsEnabledBits);
    void sensorsHealthBitsChanged   (int sensorsHealthBits);
1174
    void sensorsUnhealthyBitsChanged(int sensorsUnhealthyBits);
1175
    void orbitActiveChanged         (bool orbitActive);
dogmaphobic's avatar
dogmaphobic committed
1176

1177 1178
    void firmwareVersionChanged(void);
    void firmwareCustomVersionChanged(void);
1179
    void gitHashChanged(QString hash);
Gus Grubba's avatar
Gus Grubba committed
1180
    void vehicleUIDChanged();
1181

Don Gagne's avatar
Don Gagne committed
1182 1183 1184 1185 1186 1187 1188 1189
    /// New RC channel values
    ///     @param channelCount Number of available channels, cMaxRcChannels max
    ///     @param pwmValues -1 signals channel not available
    void rcChannelsChanged(int channelCount, int pwmValues[cMaxRcChannels]);

    /// Remote control RSSI changed  (0% - 100%)
    void remoteControlRSSIChanged(uint8_t rssi);

1190 1191 1192 1193 1194
    void mavlinkRawImu(mavlink_message_t message);
    void mavlinkScaledImu1(mavlink_message_t message);
    void mavlinkScaledImu2(mavlink_message_t message);
    void mavlinkScaledImu3(mavlink_message_t message);

1195
    // Mavlink Log Download
Gus Grubba's avatar
Gus Grubba committed
1196
    void mavlinkLogData (Vehicle* vehicle, uint8_t target_system, uint8_t target_component, uint16_t sequence, uint8_t first_message, QByteArray data, bool acked);
1197

1198 1199 1200 1201 1202 1203
    /// Signalled in response to usage of sendMavCommand
    ///     @param vehicleId Vehicle which command was sent to
    ///     @param component Component which command was sent to
    ///     @param command MAV_CMD Command which was sent
    ///     @param result MAV_RESULT returned in ack
    ///     @param noResponseFromVehicle true: vehicle did not respond to command, false: vehicle responsed, MAV_RESULT in result
1204
    void mavCommandResult(int vehicleId, int component, int command, int result, bool noReponseFromVehicle);
1205

1206
    // MAVlink Serial Data
1207 1208
    void mavlinkSerialControl(uint8_t device, uint8_t flags, uint16_t timeout, uint32_t baudrate, QByteArray data);

1209
    // MAVLink protocol version
Gus Grubba's avatar
Gus Grubba committed
1210 1211 1212 1213 1214 1215 1216
    void requestProtocolVersion     (unsigned version);
    void mavlinkStatusChanged       ();

    void gimbalRollChanged          ();
    void gimbalPitchChanged         ();
    void gimbalYawChanged           ();
    void gimbalDataChanged          ();
1217

1218 1219
private slots:
    void _mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message);
Don Gagne's avatar
Don Gagne committed
1220
    void _linkInactiveOrDeleted(LinkInterface* link);
1221
    void _sendMessageOnLink(LinkInterface* link, mavlink_message_t message);
1222
    void _sendMessageMultipleNext(void);
1223
    void _addNewMapTrajectoryPoint(void);
1224
    void _parametersReady(bool parametersReady);
Don Gagne's avatar
Don Gagne committed
1225
    void _remoteControlRSSIChanged(uint8_t rssi);
Don Gagne's avatar
Don Gagne committed
1226
    void _handleFlightModeChanged(const QString& flightMode);
1227
    void _announceArmedChanged(bool armed);
1228 1229 1230 1231
    void _offlineFirmwareTypeSettingChanged(QVariant value);
    void _offlineVehicleTypeSettingChanged(QVariant value);
    void _offlineCruiseSpeedSettingChanged(QVariant value);
    void _offlineHoverSpeedSettingChanged(QVariant value);
1232
    void _updateHighLatencyLink(bool sendCommand = true);
1233

1234
    void _handleTextMessage                 (int newCount);
dogmaphobic's avatar
dogmaphobic committed
1235
    void _handletextMessageReceived         (UASMessage* message);
dogmaphobic's avatar
dogmaphobic committed
1236 1237
    /** @brief A new camera image has arrived */
    void _imageReady                        (UASInterface* uas);
Don Gagne's avatar
Don Gagne committed
1238
    void _prearmErrorTimeout(void);
DonLakeFlyer's avatar
DonLakeFlyer committed
1239 1240 1241
    void _missionLoadComplete(void);
    void _geoFenceLoadComplete(void);
    void _rallyPointLoadComplete(void);
1242
    void _sendMavCommandAgain(void);
1243 1244
    void _clearTrajectoryPoints(void);
    void _clearCameraTriggerPoints(void);
1245
    void _updateDistanceHeadingToHome(void);
1246
    void _updateDistanceToGCS(void);
1247 1248
    void _updateHobbsMeter(void);
    void _vehicleParamLoaded(bool ready);
1249
    void _sendQGCTimeToVehicle(void);
1250
    void _mavlinkMessageStatus(int uasId, uint64_t totalSent, uint64_t totalReceived, uint64_t totalLoss, float lossPercent);
Jacob Walser's avatar
Jacob Walser committed
1251

Gus Grubba's avatar
Gus Grubba committed
1252 1253
    void _trafficUpdate         (bool alert, QString traffic_id, QString vehicle_id, QGeoCoordinate location, float heading);
    void _adsbTimerTimeout      ();
1254
    void _orbitTelemetryTimeout (void);
1255
    void _protocolVersionTimeOut(void);
1256

1257
private:
Gus Grubba's avatar
Gus Grubba committed
1258 1259 1260
    bool _containsLink          (LinkInterface* link);
    void _addLink               (LinkInterface* link);
    void _joystickChanged       (Joystick* joystick);
1261 1262
    void _loadSettings(void);
    void _saveSettings(void);
1263
    void _startJoystick(bool start);
DonLakeFlyer's avatar
DonLakeFlyer committed
1264
    void _handlePing(LinkInterface* link, mavlink_message_t& message);
Don Gagne's avatar
Don Gagne committed
1265 1266
    void _handleHomePosition(mavlink_message_t& message);
    void _handleHeartbeat(mavlink_message_t& message);
1267
    void _handleRadioStatus(mavlink_message_t& message);
Don Gagne's avatar
Don Gagne committed
1268 1269
    void _handleRCChannels(mavlink_message_t& message);
    void _handleRCChannelsRaw(mavlink_message_t& message);
Don Gagne's avatar
Don Gagne committed
1270 1271
    void _handleBatteryStatus(mavlink_message_t& message);
    void _handleSysStatus(mavlink_message_t& message);
1272
    void _handleWindCov(mavlink_message_t& message);
1273
    void _handleVibration(mavlink_message_t& message);
Don Gagne's avatar
Don Gagne committed
1274
    void _handleExtendedSysState(mavlink_message_t& message);
1275
    void _handleCommandAck(mavlink_message_t& message);
1276
    void _handleCommandLong(mavlink_message_t& message);
Gus Grubba's avatar
Gus Grubba committed
1277
    void _handleAutopilotVersion(LinkInterface* link, mavlink_message_t& message);
1278
    void _handleProtocolVersion(LinkInterface* link, mavlink_message_t& message);
1279
    void _handleHilActuatorControls(mavlink_message_t& message);
1280 1281 1282 1283
    void _handleGpsRawInt(mavlink_message_t& message);
    void _handleGlobalPositionInt(mavlink_message_t& message);
    void _handleAltitude(mavlink_message_t& message);
    void _handleVfrHud(mavlink_message_t& message);
1284 1285 1286
    void _handleScaledPressure(mavlink_message_t& message);
    void _handleScaledPressure2(mavlink_message_t& message);
    void _handleScaledPressure3(mavlink_message_t& message);
1287
    void _handleHighLatency2(mavlink_message_t& message);
1288 1289
    void _handleAttitudeWorker(double rollRadians, double pitchRadians, double yawRadians);
    void _handleAttitude(mavlink_message_t& message);
1290
    void _handleAttitudeQuaternion(mavlink_message_t& message);
DonLakeFlyer's avatar
DonLakeFlyer committed
1291
    void _handleAttitudeTarget(mavlink_message_t& message);
1292
    void _handleDistanceSensor(mavlink_message_t& message);
1293
    void _handleEstimatorStatus(mavlink_message_t& message);
Don Gagne's avatar
Don Gagne committed
1294
    void _handleStatusText(mavlink_message_t& message, bool longVersion);
1295
    void _handleOrbitExecutionStatus(const mavlink_message_t& message);
1296
    void _handleMessageInterval(const mavlink_message_t& message);
Gus Grubba's avatar
Gus Grubba committed
1297
    void _handleGimbalOrientation(const mavlink_message_t& message);
1298 1299
    // ArduPilot dialect messages
#if !defined(NO_ARDUPILOT_DIALECT)
1300
    void _handleCameraFeedback(const mavlink_message_t& message);
1301 1302
    void _handleWind(mavlink_message_t& message);
#endif
1303
    void _handleCameraImageCaptured(const mavlink_message_t& message);
1304
    void _handleADSBVehicle(const mavlink_message_t& message);
1305
    void _missionManagerError(int errorCode, const QString& errorMsg);
1306
    void _geoFenceManagerError(int errorCode, const QString& errorMsg);
1307
    void _rallyPointManagerError(int errorCode, const QString& errorMsg);
1308 1309
    void _mapTrajectoryStart(void);
    void _mapTrajectoryStop(void);
1310
    void _linkActiveChanged(LinkInterface* link, bool active, int vehicleID);
1311 1312
    void _say(const QString& text);
    QString _vehicleIdSpeech(void);
1313 1314 1315
    void _handleMavlinkLoggingData(mavlink_message_t& message);
    void _handleMavlinkLoggingDataAcked(mavlink_message_t& message);
    void _ackMavlinkLogData(uint16_t sequence);
1316
    void _sendNextQueuedMavCommand(void);
1317
    void _updatePriorityLink(bool updateActive, bool sendCommand);
1318
    void _commonInit(void);
DonLakeFlyer's avatar
DonLakeFlyer committed
1319
    void _startPlanRequest(void);
1320
    void _setupAutoDisarmSignalling(void);
DonLakeFlyer's avatar
DonLakeFlyer committed
1321
    void _setCapabilities(uint64_t capabilityBits);
DonLakeFlyer's avatar
DonLakeFlyer committed
1322 1323
    void _updateArmed(bool armed);
    bool _apmArmingNotRequired(void);
1324
    void _pidTuningAdjustRates(bool setRatesForTuning);
1325 1326
    void _handleUnsupportedRequestAutopilotCapabilities(void);
    void _handleUnsupportedRequestProtocolVersion(void);
Don Gagne's avatar
Don Gagne committed
1327

1328
    int     _id;                    ///< Mavlink system id
1329
    int     _defaultComponentId;
1330
    bool    _active;
1331
    bool    _offlineEditingVehicle; ///< This Vehicle is a "disconnected" vehicle for ui use while offline editing
dogmaphobic's avatar
dogmaphobic committed
1332

1333
    MAV_AUTOPILOT       _firmwareType;
1334
    MAV_TYPE            _vehicleType;
1335
    FirmwarePlugin*     _firmwarePlugin;
1336
    QObject*            _firmwarePluginInstanceData;
1337
    AutoPilotPlugin*    _autopilotPlugin;
Don Gagne's avatar
Don Gagne committed
1338
    MAVLinkProtocol*    _mavlink;
1339
    bool                _soloFirmware;
1340
    QGCToolbox*         _toolbox;
1341
    SettingsManager*    _settingsManager;
dogmaphobic's avatar
dogmaphobic committed
1342

Don Gagne's avatar
Don Gagne committed
1343
    QList<LinkInterface*> _links;
dogmaphobic's avatar
dogmaphobic committed
1344

1345
    JoystickMode_t  _joystickMode;
1346
    bool            _joystickEnabled;
dogmaphobic's avatar
dogmaphobic committed
1347

1348
    UAS* _uas;
dogmaphobic's avatar
dogmaphobic committed
1349

1350
    QGeoCoordinate  _coordinate;
1351
    QGeoCoordinate  _homePosition;
dogmaphobic's avatar
dogmaphobic committed
1352

1353 1354 1355 1356 1357 1358 1359 1360 1361
    UASInterface*   _mav;
    int             _currentMessageCount;
    int             _messageCount;
    int             _currentErrorCount;
    int             _currentWarningCount;
    int             _currentNormalCount;
    MessageType_t   _currentMessageType;
    QString         _latestError;
    int             _updateCount;
dogmaphobic's avatar
dogmaphobic committed
1362
    QString         _formatedMessage;
Don Gagne's avatar
Don Gagne committed
1363 1364
    int             _rcRSSI;
    double          _rcRSSIstore;
Don Gagne's avatar
Don Gagne committed
1365
    bool            _autoDisconnect;    ///< true: Automatically disconnect vehicle when last connection goes away or lost heartbeat
Don Gagne's avatar
Don Gagne committed
1366
    bool            _flying;
1367
    bool            _landing;
1368
    bool            _vtolInFwdFlight;
1369 1370 1371 1372
    uint32_t        _onboardControlSensorsPresent;
    uint32_t        _onboardControlSensorsEnabled;
    uint32_t        _onboardControlSensorsHealth;
    uint32_t        _onboardControlSensorsUnhealthy;
1373 1374
    bool            _gpsRawIntMessageAvailable;
    bool            _globalPositionIntMessageAvailable;
DonLakeFlyer's avatar
DonLakeFlyer committed
1375 1376
    double          _defaultCruiseSpeed;
    double          _defaultHoverSpeed;
Gus Grubba's avatar
Gus Grubba committed
1377 1378 1379 1380 1381
    int             _telemetryRRSSI;
    int             _telemetryLRSSI;
    uint32_t        _telemetryRXErrors;
    uint32_t        _telemetryFixed;
    uint32_t        _telemetryTXBuffer;
1382 1383
    int             _telemetryLNoise;
    int             _telemetryRNoise;
1384
    bool            _mavlinkProtocolRequestComplete;
1385
    unsigned        _maxProtoVersion;
1386
    bool            _vehicleCapabilitiesKnown;
1387
    uint64_t        _capabilityBits;
1388
    bool            _highLatencyLink;
1389
    bool            _receivingAttitudeQuaternion;
dogmaphobic's avatar
dogmaphobic committed
1390

1391 1392
    QGCCameraManager* _cameras;

1393
    typedef struct {
1394 1395 1396 1397 1398 1399
        int         component;
        bool        commandInt; // true: use COMMAND_INT, false: use COMMAND_LONG
        MAV_CMD     command;
        MAV_FRAME   frame;
        double      rgParam[7];
        bool        showError;
1400 1401 1402 1403 1404 1405
    } MavCommandQueueEntry_t;

    QList<MavCommandQueueEntry_t>   _mavCommandQueue;
    QTimer                          _mavCommandAckTimer;
    int                             _mavCommandRetryCount;
    static const int                _mavCommandMaxRetryCount = 3;
1406
    static const int                _mavCommandAckTimeoutMSecs = 3000;
DonLakeFlyer's avatar
DonLakeFlyer committed
1407
    static const int                _mavCommandAckTimeoutMSecsHighLatency = 120000;
1408

Don Gagne's avatar
Don Gagne committed
1409 1410 1411 1412
    QString             _prearmError;
    QTimer              _prearmErrorTimer;
    static const int    _prearmErrorTimeoutMSecs = 35 * 1000;   ///< Take away prearm error after 35 seconds

1413 1414 1415 1416
    // Lost connection handling
    bool                _connectionLost;
    bool                _connectionLostEnabled;

DonLakeFlyer's avatar
DonLakeFlyer committed
1417 1418
    bool                _initialPlanRequestComplete;

Don Gagne's avatar
Don Gagne committed
1419
    MissionManager*     _missionManager;
1420
    bool                _missionManagerInitialRequestSent;
1421

1422
    GeoFenceManager*    _geoFenceManager;
1423 1424 1425 1426
    bool                _geoFenceManagerInitialRequestSent;

    RallyPointManager*  _rallyPointManager;
    bool                _rallyPointManagerInitialRequestSent;
1427

1428 1429
    ParameterManager*   _parameterManager;

1430
#if defined(QGC_AIRMAP_ENABLED)
1431
    AirspaceVehicleManager* _airspaceVehicleManager;
1432
#endif
dogmaphobic's avatar
dogmaphobic committed
1433

Don Gagne's avatar
Don Gagne committed
1434 1435 1436
    bool    _armed;         ///< true: vehicle is armed
    uint8_t _base_mode;     ///< base_mode from HEARTBEAT
    uint32_t _custom_mode;  ///< custom_mode from HEARTBEAT
1437 1438 1439 1440 1441 1442

    /// Used to store a message being sent by sendMessageMultiple
    typedef struct {
        mavlink_message_t   message;    ///< Message to send multiple times
        int                 retryCount; ///< Number of retries left
    } SendMessageMultipleInfo_t;
dogmaphobic's avatar
dogmaphobic committed
1443

1444
    QList<SendMessageMultipleInfo_t> _sendMessageMultipleList;    ///< List of messages being sent multiple times
dogmaphobic's avatar
dogmaphobic committed
1445

1446 1447
    static const int _sendMessageMultipleRetries = 5;
    static const int _sendMessageMultipleIntraMessageDelay = 500;
dogmaphobic's avatar
dogmaphobic committed
1448

1449 1450
    QTimer  _sendMultipleTimer;
    int     _nextSendMessageMultipleIndex;
dogmaphobic's avatar
dogmaphobic committed
1451

1452
    QTime               _flightTimer;
1453 1454 1455 1456 1457
    QTimer              _mapTrajectoryTimer;
    QmlObjectListModel  _mapTrajectoryList;
    QGeoCoordinate      _mapTrajectoryLastCoordinate;
    bool                _mapTrajectoryHaveFirstCoordinate;
    static const int    _mapTrajectoryMsecsBetweenPoints = 1000;
1458

1459 1460
    QmlObjectListModel  _cameraTriggerPoints;

1461 1462
    QmlObjectListModel              _adsbVehicles;
    QMap<uint32_t, ADSBVehicle*>    _adsbICAOMap;
1463
    QMap<QString, ADSBVehicle*>     _trafficVehicleMap;
1464
    QTimer                          _adsbTimer;
1465

1466
    // Toolbox references
dogmaphobic's avatar
dogmaphobic committed
1467 1468 1469 1470 1471
    FirmwarePluginManager*      _firmwarePluginManager;
    JoystickManager*            _joystickManager;

    int                         _flowImageIndex;

Don Gagne's avatar
Don Gagne committed
1472 1473
    bool _allLinksInactiveSent; ///< true: allLinkInactive signal already sent one time

1474 1475 1476 1477 1478 1479 1480
    uint                _messagesReceived;
    uint                _messagesSent;
    uint                _messagesLost;
    uint8_t             _messageSeq;
    uint8_t             _compID;
    bool                _heardFrom;

Gus Grubba's avatar
Gus Grubba committed
1481 1482 1483 1484 1485 1486
    float               _curGimbalRoll  = 0.0f;
    float               _curGimbalPitch = 0.0f;
    float               _curGinmbalYaw  = 0.0f;
    bool                _haveGimbalData = false;
    Joystick*           _activeJoystick = nullptr;

Don Gagne's avatar
Don Gagne committed
1487 1488 1489
    int _firmwareMajorVersion;
    int _firmwareMinorVersion;
    int _firmwarePatchVersion;
1490 1491 1492
    int _firmwareCustomMajorVersion;
    int _firmwareCustomMinorVersion;
    int _firmwareCustomPatchVersion;
1493
    FIRMWARE_VERSION_TYPE _firmwareVersionType;
Don Gagne's avatar
Don Gagne committed
1494

1495
    QString _gitHash;
Gus Grubba's avatar
Gus Grubba committed
1496
    quint64 _uid;
1497

1498
    int _lastAnnouncedLowBatteryPercent;
1499

1500
    SharedLinkInterfacePointer _priorityLink;  // We always keep a reference to the priority link to manage shutdown ordering
1501
    bool _priorityLinkCommanded;
1502

1503 1504 1505 1506 1507
    uint64_t    _mavlinkSentCount       = 0;
    uint64_t    _mavlinkReceivedCount   = 0;
    uint64_t    _mavlinkLossCount       = 0;
    float       _mavlinkLossPercent     = 0.0f;

1508 1509
    QMap<QString, QTime> _noisySpokenPrearmMap; ///< Used to prevent PreArm messages from being spoken too often

1510 1511 1512 1513 1514 1515
    // Orbit status values
    bool            _orbitActive;
    QGCMapCircle    _orbitMapCircle;
    QTimer          _orbitTelemetryTimer;
    static const int _orbitTelemetryTimeoutMsecs = 3000; // No telemetry for this amount and orbit will go inactive

1516 1517 1518 1519 1520 1521
    // PID Tuning telemetry mode
    bool            _pidTuningTelemetryMode;
    bool            _pidTuningWaitingForRates;
    QList<int>      _pidTuningMessages;
    QMap<int, int>  _pidTuningMessageRatesUsecs;

Don Gagne's avatar
Don Gagne committed
1522 1523 1524 1525 1526
    // FactGroup facts

    Fact _rollFact;
    Fact _pitchFact;
    Fact _headingFact;
DonLakeFlyer's avatar
DonLakeFlyer committed
1527 1528 1529
    Fact _rollRateFact;
    Fact _pitchRateFact;
    Fact _yawRateFact;
Don Gagne's avatar
Don Gagne committed
1530 1531 1532 1533 1534
    Fact _groundSpeedFact;
    Fact _airSpeedFact;
    Fact _climbRateFact;
    Fact _altitudeRelativeFact;
    Fact _altitudeAMSLFact;
1535
    Fact _flightDistanceFact;
1536
    Fact _flightTimeFact;
1537
    Fact _distanceToHomeFact;
1538
    Fact _headingToHomeFact;
1539
    Fact _distanceToGCSFact;
1540
    Fact _hobbsFact;
1541
    Fact _throttlePctFact;
Don Gagne's avatar
Don Gagne committed
1542

1543
    VehicleGPSFactGroup             _gpsFactGroup;
DonLakeFlyer's avatar
DonLakeFlyer committed
1544 1545
    VehicleBatteryFactGroup         _battery1FactGroup;
    VehicleBatteryFactGroup         _battery2FactGroup;
1546 1547 1548 1549 1550 1551
    VehicleWindFactGroup            _windFactGroup;
    VehicleVibrationFactGroup       _vibrationFactGroup;
    VehicleTemperatureFactGroup     _temperatureFactGroup;
    VehicleClockFactGroup           _clockFactGroup;
    VehicleSetpointFactGroup        _setpointFactGroup;
    VehicleDistanceSensorFactGroup  _distanceSensorFactGroup;
1552
    VehicleEstimatorStatusFactGroup _estimatorStatusFactGroup;
Don Gagne's avatar
Don Gagne committed
1553 1554 1555 1556

    static const char* _rollFactName;
    static const char* _pitchFactName;
    static const char* _headingFactName;
DonLakeFlyer's avatar
DonLakeFlyer committed
1557 1558 1559
    static const char* _rollRateFactName;
    static const char* _pitchRateFactName;
    static const char* _yawRateFactName;
Don Gagne's avatar
Don Gagne committed
1560 1561 1562 1563 1564
    static const char* _groundSpeedFactName;
    static const char* _airSpeedFactName;
    static const char* _climbRateFactName;
    static const char* _altitudeRelativeFactName;
    static const char* _altitudeAMSLFactName;
1565
    static const char* _flightDistanceFactName;
1566
    static const char* _flightTimeFactName;
1567
    static const char* _distanceToHomeFactName;
1568
    static const char* _headingToHomeFactName;
1569
    static const char* _distanceToGCSFactName;
1570
    static const char* _hobbsFactName;
1571
    static const char* _throttlePctFactName;
Don Gagne's avatar
Don Gagne committed
1572

Don Gagne's avatar
Don Gagne committed
1573
    static const char* _gpsFactGroupName;
DonLakeFlyer's avatar
DonLakeFlyer committed
1574 1575
    static const char* _battery1FactGroupName;
    static const char* _battery2FactGroupName;
Don Gagne's avatar
Don Gagne committed
1576
    static const char* _windFactGroupName;
1577
    static const char* _vibrationFactGroupName;
1578
    static const char* _temperatureFactGroupName;
dheideman's avatar
dheideman committed
1579
    static const char* _clockFactGroupName;
1580
    static const char* _distanceSensorFactGroupName;
1581
    static const char* _estimatorStatusFactGroupName;
Don Gagne's avatar
Don Gagne committed
1582 1583 1584

    static const int _vehicleUIUpdateRateMSecs = 100;

1585
    // Settings keys
1586 1587
    static const char* _settingsGroup;
    static const char* _joystickModeSettingsKey;
1588
    static const char* _joystickEnabledSettingsKey;
Don Gagne's avatar
Don Gagne committed
1589

1590
};