UAS.h

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

QGroundControl Open Source Ground Control Station

(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>

This file is part of the QGROUNDCONTROL project

    QGROUNDCONTROL is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

    QGROUNDCONTROL is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.

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

/**
 * @file
 *   @brief Definition of Unmanned Aerial Vehicle object
 *
 *   @author Lorenz Meier <mavteam@student.ethz.ch>
 *
 */

#ifndef _UAS_H_
#define _UAS_H_

#include "UASInterface.h"
#include "MG.h"
#include <MAVLinkProtocol.h>
#include "QGCMAVLink.h"

/**
 * @brief A generic MAVLINK-connected MAV/UAV
 *
 * This class represents one vehicle. It can be used like the real vehicle, e.g. a call to halt()
 * will automatically send the appropriate messages to the vehicle. The vehicle state will also be
 * automatically updated by the comm architecture, so when writing code to e.g. control the vehicle
 * no knowledge of the communication infrastructure is needed.
 */
class UAS : public UASInterface
{
    Q_OBJECT
public:
    UAS(MAVLinkProtocol* protocol, int id = 0);
    ~UAS();

    enum BatteryType {
        NICD = 0,
        NIMH = 1,
        LIION = 2,
        LIPOLY = 3,
        LIFE = 4,
        AGZN = 5
    }; ///< The type of battery used

    static const int lipoFull = 4.2f;  ///< 100% charged voltage
    static const int lipoEmpty = 3.5f; ///< Discharged voltage

    /* MANAGEMENT */

    /** @brief The name of the robot */
    QString getUASName(void) const;
    /** @brief Get short state */
    const QString& getShortState() const;
    /** @brief Get short mode */
    const QString& getShortMode() const;
    /** @brief Get the unique system id */
    int getUASID() const;
    /** @brief Get the airframe */
    int getAirframe() const {
        return airframe;
    }
    /** @brief The time interval the robot is switched on */
    quint64 getUptime() const;
    /** @brief Get the status flag for the communication */
    int getCommunicationStatus() const;
    /** @brief Add one measurement and get low-passed voltage */
    float filterVoltage(float value) const;
    /** @brief Get the links associated with this robot */
    QList<LinkInterface*>* getLinks();

    double getLocalX() const {
        return localX;
    }
    double getLocalY() const {
        return localY;
    }
    double getLocalZ() const {
        return localZ;
    }
    double getLatitude() const {
        return latitude;
    }
    double getLongitude() const {
        return longitude;
    }
    double getAltitude() const {
        return altitude;
    }

    double getRoll() const {
        return roll;
    }
    double getPitch() const {
        return pitch;
    }
    double getYaw() const {
        return yaw;
    }