UAS.h 37.7 KB
Newer Older
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40
/*=====================================================================

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 <MAVLinkProtocol.h>
#include <QVector3D>
#include "QGCMAVLink.h"
#include "QGCHilLink.h"
#include "QGCFlightGearLink.h"
41
#include "QGCJSBSimLink.h"
42
#include "QGCXPlaneLink.h"
43
#include "QGCUASParamManager.h"
44

tstellanova's avatar
tstellanova committed
45

46 47 48 49 50 51 52 53 54 55 56 57 58 59 60
/**
 * @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();

61 62
    float lipoFull;  ///< 100% charged voltage
    float lipoEmpty; ///< Discharged voltage
63 64 65 66 67 68 69 70 71 72

    /* 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 Translate from mode id to text */
73
    static QString getShortModeTextFor(uint8_t base_mode, uint32_t custom_mode, int autopilot);
74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94
    /** @brief Translate from mode id to audio text */
    static QString getAudioModeTextFor(int id);
    /** @brief Get the unique system id */
    int getUASID() const;
    /** @brief Get the airframe */
    int getAirframe() const
    {
        return airframe;
    }
    /** @brief Get the components */
    QMap<int, QString> getComponents();

    /** @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();

95 96 97 98 99
    Q_PROPERTY(double localX READ getLocalX WRITE setLocalX NOTIFY localXChanged)
    Q_PROPERTY(double localY READ getLocalY WRITE setLocalY NOTIFY localYChanged)
    Q_PROPERTY(double localZ READ getLocalZ WRITE setLocalZ NOTIFY localZChanged)
    Q_PROPERTY(double latitude READ getLatitude WRITE setLatitude NOTIFY latitudeChanged)
    Q_PROPERTY(double longitude READ getLongitude WRITE setLongitude NOTIFY longitudeChanged)
100
    Q_PROPERTY(double satelliteCount READ getSatelliteCount WRITE setSatelliteCount NOTIFY satelliteCountChanged)
101 102
    Q_PROPERTY(bool isLocalPositionKnown READ localPositionKnown)
    Q_PROPERTY(bool isGlobalPositionKnown READ globalPositionKnown)
103 104 105
    Q_PROPERTY(double roll READ getRoll WRITE setRoll NOTIFY rollChanged)
    Q_PROPERTY(double pitch READ getPitch WRITE setPitch NOTIFY pitchChanged)
    Q_PROPERTY(double yaw READ getYaw WRITE setYaw NOTIFY yawChanged)
106
    Q_PROPERTY(double distToWaypoint READ getDistToWaypoint WRITE setDistToWaypoint NOTIFY distToWaypointChanged)
107
    Q_PROPERTY(double airSpeed READ getGroundSpeed WRITE setGroundSpeed NOTIFY airSpeedChanged)
108
    Q_PROPERTY(double groundSpeed READ getGroundSpeed WRITE setGroundSpeed NOTIFY groundSpeedChanged)
109 110 111
    Q_PROPERTY(double bearingToWaypoint READ getBearingToWaypoint WRITE setBearingToWaypoint NOTIFY bearingToWaypointChanged)
    Q_PROPERTY(double altitudeAMSL READ getAltitudeAMSL WRITE setAltitudeAMSL NOTIFY altitudeAMSLChanged)
    Q_PROPERTY(double altitudeRelative READ getAltitudeRelative WRITE setAltitudeRelative NOTIFY altitudeRelativeChanged)
112 113 114 115 116 117 118 119 120 121 122

    void setGroundSpeed(double val)
    {
        groundSpeed = val;
        emit groundSpeedChanged(val,"groundSpeed");
        emit valueChanged(this->uasId,"groundSpeed","m/s",QVariant(val),getUnixTime());
    }
    double getGroundSpeed() const
    {
        return groundSpeed;
    }
123

124 125 126 127 128 129 130 131 132 133 134
    void setAirSpeed(double val)
    {
        airSpeed = val;
        emit airSpeedChanged(val,"airSpeed");
        emit valueChanged(this->uasId,"airSpeed","m/s",QVariant(val),getUnixTime());
    }

    double getAirSpeed() const
    {
        return airSpeed;
    }
135 136 137 138 139

    void setLocalX(double val)
    {
        localX = val;
        emit localXChanged(val,"localX");
140
        emit valueChanged(this->uasId,"localX","m",QVariant(val),getUnixTime());
141
    }
142

143 144 145 146
    double getLocalX() const
    {
        return localX;
    }
147 148 149 150 151

    void setLocalY(double val)
    {
        localY = val;
        emit localYChanged(val,"localY");
152
        emit valueChanged(this->uasId,"localY","m",QVariant(val),getUnixTime());
153
    }
154 155 156 157
    double getLocalY() const
    {
        return localY;
    }
158 159 160 161 162

    void setLocalZ(double val)
    {
        localZ = val;
        emit localZChanged(val,"localZ");
163
        emit valueChanged(this->uasId,"localZ","m",QVariant(val),getUnixTime());
164
    }
165 166 167 168
    double getLocalZ() const
    {
        return localZ;
    }
169 170 171 172 173

    void setLatitude(double val)
    {
        latitude = val;
        emit latitudeChanged(val,"latitude");
174
        emit valueChanged(this->uasId,"latitude","deg",QVariant(val),getUnixTime());
175
    }
176

177 178 179 180
    double getLatitude() const
    {
        return latitude;
    }
181 182 183 184 185

    void setLongitude(double val)
    {
        longitude = val;
        emit longitudeChanged(val,"longitude");
186
        emit valueChanged(this->uasId,"longitude","deg",QVariant(val),getUnixTime());
187
    }
188

189 190 191 192
    double getLongitude() const
    {
        return longitude;
    }
193

194
    void setAltitudeAMSL(double val)
195
    {
196 197 198
        altitudeAMSL = val;
        emit altitudeAMSLChanged(val, "altitudeAMSL");
        emit valueChanged(this->uasId,"altitudeAMSL","m",QVariant(val),getUnixTime());
199 200
    }

201
    double getAltitudeAMSL() const
202
    {
203 204 205 206 207 208 209 210 211 212 213 214 215
        return altitudeAMSL;
    }

    void setAltitudeRelative(double val)
    {
        altitudeRelative = val;
        emit altitudeRelativeChanged(val, "altitudeRelative");
        emit valueChanged(this->uasId,"altitudeRelative","m",QVariant(val),getUnixTime());
    }

    double getAltitudeRelative() const
    {
        return altitudeRelative;
216
    }
217 218 219 220 221

    void setSatelliteCount(double val)
    {
        satelliteCount = val;
        emit satelliteCountChanged(val,"satelliteCount");
222
        emit valueChanged(this->uasId,"satelliteCount","",QVariant(val),getUnixTime());
223 224 225 226 227 228 229
    }

    double getSatelliteCount() const
    {
        return satelliteCount;
    }

230 231 232 233
    virtual bool localPositionKnown() const
    {
        return isLocalPositionKnown;
    }
234

235 236 237 238 239
    virtual bool globalPositionKnown() const
    {
        return isGlobalPositionKnown;
    }

240 241 242 243
    void setDistToWaypoint(double val)
    {
        distToWaypoint = val;
        emit distToWaypointChanged(val,"distToWaypoint");
244
        emit valueChanged(this->uasId,"distToWaypoint","m",QVariant(val),getUnixTime());
245 246 247 248 249 250 251
    }

    double getDistToWaypoint() const
    {
        return distToWaypoint;
    }

252 253 254 255
    void setBearingToWaypoint(double val)
    {
        bearingToWaypoint = val;
        emit bearingToWaypointChanged(val,"bearingToWaypoint");
256
        emit valueChanged(this->uasId,"bearingToWaypoint","deg",QVariant(val),getUnixTime());
257 258 259 260 261 262 263 264
    }

    double getBearingToWaypoint() const
    {
        return bearingToWaypoint;
    }


265 266 267 268 269 270
    void setRoll(double val)
    {
        roll = val;
        emit rollChanged(val,"roll");
    }

271 272 273 274
    double getRoll() const
    {
        return roll;
    }
275 276 277 278 279 280 281

    void setPitch(double val)
    {
        pitch = val;
        emit pitchChanged(val,"pitch");
    }

282 283 284 285
    double getPitch() const
    {
        return pitch;
    }
286 287 288 289 290 291 292

    void setYaw(double val)
    {
        yaw = val;
        emit yawChanged(val,"yaw");
    }

293 294 295 296
    double getYaw() const
    {
        return yaw;
    }
297

298 299 300 301 302 303 304 305 306 307 308
    bool getSelected() const;
    QVector3D getNedPosGlobalOffset() const
    {
        return nedPosGlobalOffset;
    }

    QVector3D getNedAttGlobalOffset() const
    {
        return nedAttGlobalOffset;
    }

309 310 311
    bool isRotaryWing();
    bool isFixedWing();

312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373
#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
    px::GLOverlay getOverlay()
    {
        QMutexLocker locker(&overlayMutex);
        return overlay;
    }

    px::GLOverlay getOverlay(qreal& receivedTimestamp)
    {
        receivedTimestamp = receivedOverlayTimestamp;
        QMutexLocker locker(&overlayMutex);
        return overlay;
    }

    px::ObstacleList getObstacleList() {
        QMutexLocker locker(&obstacleListMutex);
        return obstacleList;
    }

    px::ObstacleList getObstacleList(qreal& receivedTimestamp) {
        receivedTimestamp = receivedObstacleListTimestamp;
        QMutexLocker locker(&obstacleListMutex);
        return obstacleList;
    }

    px::Path getPath() {
        QMutexLocker locker(&pathMutex);
        return path;
    }

    px::Path getPath(qreal& receivedTimestamp) {
        receivedTimestamp = receivedPathTimestamp;
        QMutexLocker locker(&pathMutex);
        return path;
    }

    px::PointCloudXYZRGB getPointCloud() {
        QMutexLocker locker(&pointCloudMutex);
        return pointCloud;
    }

    px::PointCloudXYZRGB getPointCloud(qreal& receivedTimestamp) {
        receivedTimestamp = receivedPointCloudTimestamp;
        QMutexLocker locker(&pointCloudMutex);
        return pointCloud;
    }

    px::RGBDImage getRGBDImage() {
        QMutexLocker locker(&rgbdImageMutex);
        return rgbdImage;
    }

    px::RGBDImage getRGBDImage(qreal& receivedTimestamp) {
        receivedTimestamp = receivedRGBDImageTimestamp;
        QMutexLocker locker(&rgbdImageMutex);
        return rgbdImage;
    }
#endif

    friend class UASWaypointManager;

protected: //COMMENTS FOR TEST UNIT
374
    /// LINK ID AND STATUS
375
    int uasId;                    ///< Unique system ID
376
    QMap<int, QString> components;///< IDs and names of all detected onboard components
377 378 379
    QList<LinkInterface*>* links; ///< List of links this UAS can be reached by
    QList<int> unknownPackets;    ///< Packet IDs which are unknown and have been received
    MAVLinkProtocol* mavlink;     ///< Reference to the MAVLink instance
380 381 382 383 384
    CommStatus commStatus;        ///< Communication status
    float receiveDropRate;        ///< Percentage of packets that were dropped on the MAV's receiving link (from GCS and other MAVs)
    float sendDropRate;           ///< Percentage of packets that were not received from the MAV by the GCS
    quint64 lastHeartbeat;        ///< Time of the last heartbeat message
    QTimer* statusTimeout;        ///< Timer for various status timeouts
385

386 387 388 389 390 391
    /// BASIC UAS TYPE, NAME AND STATE
    QString name;                 ///< Human-friendly name of the vehicle, e.g. bravo
    unsigned char type;           ///< UAS type (from type enum)
    int airframe;                 ///< The airframe type
    int autopilot;                ///< Type of the Autopilot: -1: None, 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
    bool systemIsArmed;           ///< If the system is armed
392
    uint8_t base_mode;                 ///< The current mode of the MAV
393 394 395 396 397 398
    uint32_t custom_mode;         ///< The current mode of the MAV
    int status;                   ///< The current status of the MAV
    QString shortModeText;        ///< Short textual mode description
    QString shortStateText;       ///< Short textual state description

    /// OUTPUT
399 400 401 402 403 404 405
    QList<double> actuatorValues;
    QList<QString> actuatorNames;
    QList<double> motorValues;
    QList<QString> motorNames;
    double thrustSum;           ///< Sum of forward/up thrust of all thrust actuators, in Newtons
    double thrustMax;           ///< Maximum forward/up thrust of this vehicle, in Newtons

406 407 408 409
    // dongfang: This looks like a candidate for being moved off to a separate class.
    /// BATTERY / ENERGY
    BatteryType batteryType;    ///< The battery type
    int cells;                  ///< Number of cells
410 411 412 413 414 415 416 417 418 419
    float fullVoltage;          ///< Voltage of the fully charged battery (100%)
    float emptyVoltage;         ///< Voltage of the empty battery (0%)
    float startVoltage;         ///< Voltage at system start
    float tickVoltage;          ///< Voltage where 0.1 V ticks are told
    float lastTickVoltageValue; ///< The last voltage where a tick was announced
    float tickLowpassVoltage;   ///< Lowpass-filtered voltage for the tick announcement
    float warnVoltage;          ///< Voltage where QGC will start to warn about low battery
    float warnLevelPercent;     ///< Warning level, in percent
    double currentVoltage;      ///< Voltage currently measured
    float lpVoltage;            ///< Low-pass filtered voltage
dongfang's avatar
dongfang committed
420
    double currentCurrent;      ///< Battery current currently measured
421 422 423
    bool batteryRemainingEstimateEnabled; ///< If the estimate is enabled, QGC will try to estimate the remaining battery life
    float chargeLevel;          ///< Charge level of battery, in percent
    int timeRemaining;          ///< Remaining time calculated based on previous and current
424 425 426 427 428
    bool lowBattAlarm;          ///< Switch if battery is low


    /// TIMEKEEPING
    quint64 startTime;            ///< The time the UAS was switched on
429 430
    quint64 onboardTimeOffset;

431
    /// MANUAL CONTROL
432 433 434 435 436 437 438 439 440
    bool controlRollManual;     ///< status flag, true if roll is controlled manually
    bool controlPitchManual;    ///< status flag, true if pitch is controlled manually
    bool controlYawManual;      ///< status flag, true if yaw is controlled manually
    bool controlThrustManual;   ///< status flag, true if thrust is controlled manually

    double manualRollAngle;     ///< Roll angle set by human pilot (radians)
    double manualPitchAngle;    ///< Pitch angle set by human pilot (radians)
    double manualYawAngle;      ///< Yaw angle set by human pilot (radians)
    double manualThrust;        ///< Thrust set by human pilot (radians)
441 442

    /// POSITION
443
    bool positionLock;          ///< Status if position information is available or not
444 445
    bool isLocalPositionKnown;  ///< If the local position has been received for this MAV
    bool isGlobalPositionKnown; ///< If the global position has been received for this MAV
446

447 448 449
    double localX;
    double localY;
    double localZ;
450

451 452
    double latitude;            ///< Global latitude as estimated by position estimator
    double longitude;           ///< Global longitude as estimated by position estimator
453 454
    double altitudeAMSL;        ///< Global altitude as estimated by position estimator
    double altitudeRelative;    ///< Altitude above home as estimated by position estimator
455

456
    double satelliteCount;      ///< Number of satellites visible to raw GPS
457 458 459 460
    bool globalEstimatorActive; ///< Global position estimator present, do not fall back to GPS raw for position
    double latitude_gps;        ///< Global latitude as estimated by raw GPS
    double longitude_gps;       ///< Global longitude as estimated by raw GPS
    double altitude_gps;        ///< Global altitude as estimated by raw GPS
461 462 463
    double speedX;              ///< True speed in X axis
    double speedY;              ///< True speed in Y axis
    double speedZ;              ///< True speed in Z axis
464 465 466 467 468

    QVector3D nedPosGlobalOffset;   ///< Offset between the system's NED position measurements and the swarm / global 0/0/0 origin
    QVector3D nedAttGlobalOffset;   ///< Offset between the system's NED position measurements and the swarm / global 0/0/0 origin

    /// WAYPOINT NAVIGATION
469
    double distToWaypoint;       ///< Distance to next waypoint
470 471
    double airSpeed;             ///< Airspeed
    double groundSpeed;          ///< Groundspeed
472 473 474 475 476 477 478
    double bearingToWaypoint;    ///< Bearing to next waypoint
    UASWaypointManager waypointManager;

    /// ATTITUDE
    bool attitudeKnown;             ///< True if attitude was received, false else
    bool attitudeStamped;           ///< Should arriving data be timestamped with the last attitude? This helps with broken system time clocks on the MAV
    quint64 lastAttitude;           ///< Timestamp of last attitude measurement
479 480 481 482
    double roll;
    double pitch;
    double yaw;

483 484
    // dongfang: This looks like a candidate for being moved off to a separate class.
    /// IMAGING
485 486 487 488 489 490 491 492 493 494 495
    int imageSize;              ///< Image size being transmitted (bytes)
    int imagePackets;           ///< Number of data packets being sent for this image
    int imagePacketsArrived;    ///< Number of data packets recieved
    int imagePayload;           ///< Payload size per transmitted packet (bytes). Standard is 254, and decreases when image resolution increases.
    int imageQuality;           ///< Quality of the transmitted image (percentage)
    int imageType;              ///< Type of the transmitted image (BMP, PNG, JPEG, RAW 8 bit, RAW 32 bit)
    int imageWidth;             ///< Width of the image stream
    int imageHeight;            ///< Width of the image stream
    QByteArray imageRecBuffer;  ///< Buffer for the incoming bytestream
    QImage image;               ///< Image data of last completely transmitted image
    quint64 imageStart;
496
    bool blockHomePositionChanges;   ///< Block changes to the home position
497
    bool receivedMode;          ///< True if mode was retrieved from current conenction to UAS
498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520

#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
    px::GLOverlay overlay;
    QMutex overlayMutex;
    qreal receivedOverlayTimestamp;

    px::ObstacleList obstacleList;
    QMutex obstacleListMutex;
    qreal receivedObstacleListTimestamp;

    px::Path path;
    QMutex pathMutex;
    qreal receivedPathTimestamp;

    px::PointCloudXYZRGB pointCloud;
    QMutex pointCloudMutex;
    qreal receivedPointCloudTimestamp;

    px::RGBDImage rgbdImage;
    QMutex rgbdImageMutex;
    qreal receivedRGBDImageTimestamp;
#endif

521
    /// PARAMETERS
522 523
    QMap<int, QMap<QString, QVariant>* > parameters; ///< All parameters
    bool paramsOnceRequested;       ///< If the parameter list has been read at least once
524
    QGCUASParamManager paramMgr; ///< Parameter manager for this UAS
525 526

    /// SIMULATION
527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542
    QGCHilLink* simulation;         ///< Hardware in the loop simulation link

public:
    /** @brief Set the current battery type */
    void setBattery(BatteryType type, int cells);
    /** @brief Estimate how much flight time is remaining */
    int calculateTimeRemaining();
    /** @brief Get the current charge level */
    float getChargeLevel();
    /** @brief Get the human-readable status message for this code */
    void getStatusForCode(int statusCode, QString& uasState, QString& stateDescription);
    /** @brief Check if vehicle is in autonomous mode */
    bool isAuto();
    /** @brief Check if vehicle is armed */
    bool isArmed() const { return systemIsArmed; }

543
    /** @brief Get reference to the waypoint manager **/
544 545 546
    UASWaypointManager* getWaypointManager() {
        return &waypointManager;
    }
547

548
    /** @brief Get reference to the param manager **/
549
    virtual QGCUASParamManagerInterface* getParamManager()  {
550
        return &paramMgr;
tstellanova's avatar
tstellanova committed
551 552
    }

553 554 555 556
    /** @brief Get the HIL simulation */
    QGCHilLink* getHILSimulation() const {
        return simulation;
    }
557 558


559
    int getSystemType();
560 561 562 563 564 565 566 567 568 569 570 571 572 573 574 575 576 577 578 579 580 581 582 583 584 585 586 587 588 589 590 591 592 593

    /**
     * @brief Returns true for systems that can reverse. If the system has no control over position, it returns false as
     * @return If the specified vehicle type can
     */
    bool systemCanReverse() const
    {
        switch(type)
        {
        case MAV_TYPE_GENERIC:
        case MAV_TYPE_FIXED_WING:
        case MAV_TYPE_ROCKET:
        case MAV_TYPE_FLAPPING_WING:

        // System types that don't have movement
        case MAV_TYPE_ANTENNA_TRACKER:
        case MAV_TYPE_GCS:
        case MAV_TYPE_FREE_BALLOON:
        default:
            return false;
        case MAV_TYPE_QUADROTOR:
        case MAV_TYPE_COAXIAL:
        case MAV_TYPE_HELICOPTER:
        case MAV_TYPE_AIRSHIP:
        case MAV_TYPE_GROUND_ROVER:
        case MAV_TYPE_SURFACE_BOAT:
        case MAV_TYPE_SUBMARINE:
        case MAV_TYPE_HEXAROTOR:
        case MAV_TYPE_OCTOROTOR:
        case MAV_TYPE_TRICOPTER:
            return true;
        }
    }

594 595 596 597 598 599 600 601 602 603 604 605 606 607 608 609 610 611 612 613 614 615 616 617 618 619 620 621 622 623 624 625 626 627 628 629 630 631 632 633 634 635 636 637 638 639 640 641 642 643 644 645 646 647 648 649 650 651 652 653 654 655 656 657 658 659 660 661 662 663 664 665 666 667 668 669 670 671 672 673 674 675 676 677 678 679 680 681 682 683 684 685 686 687 688 689 690 691 692 693 694 695 696 697 698 699 700 701 702 703 704 705 706 707
    QString getSystemTypeName()
    {
        switch(type)
        {
        case MAV_TYPE_GENERIC:
            return "GENERIC";
            break;
        case MAV_TYPE_FIXED_WING:
            return "FIXED_WING";
            break;
        case MAV_TYPE_QUADROTOR:
            return "QUADROTOR";
            break;
        case MAV_TYPE_COAXIAL:
            return "COAXIAL";
            break;
        case MAV_TYPE_HELICOPTER:
            return "HELICOPTER";
            break;
        case MAV_TYPE_ANTENNA_TRACKER:
            return "ANTENNA_TRACKER";
            break;
        case MAV_TYPE_GCS:
            return "GCS";
            break;
        case MAV_TYPE_AIRSHIP:
            return "AIRSHIP";
            break;
        case MAV_TYPE_FREE_BALLOON:
            return "FREE_BALLOON";
            break;
        case MAV_TYPE_ROCKET:
            return "ROCKET";
            break;
        case MAV_TYPE_GROUND_ROVER:
            return "GROUND_ROVER";
            break;
        case MAV_TYPE_SURFACE_BOAT:
            return "BOAT";
            break;
        case MAV_TYPE_SUBMARINE:
            return "SUBMARINE";
            break;
        case MAV_TYPE_HEXAROTOR:
            return "HEXAROTOR";
            break;
        case MAV_TYPE_OCTOROTOR:
            return "OCTOROTOR";
            break;
        case MAV_TYPE_TRICOPTER:
            return "TRICOPTER";
            break;
        case MAV_TYPE_FLAPPING_WING:
            return "FLAPPING_WING";
            break;
        default:
            return "";
            break;
        }
    }

    QImage getImage();
    void requestImage();
    int getAutopilotType(){
        return autopilot;
    }
    QString getAutopilotTypeName()
    {
        switch (autopilot)
        {
        case MAV_AUTOPILOT_GENERIC:
            return "GENERIC";
            break;
        case MAV_AUTOPILOT_PIXHAWK:
            return "PIXHAWK";
            break;
        case MAV_AUTOPILOT_SLUGS:
            return "SLUGS";
            break;
        case MAV_AUTOPILOT_ARDUPILOTMEGA:
            return "ARDUPILOTMEGA";
            break;
        case MAV_AUTOPILOT_OPENPILOT:
            return "OPENPILOT";
            break;
        case MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLY:
            return "GENERIC_WAYPOINTS_ONLY";
            break;
        case MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLY:
            return "GENERIC_MISSION_NAVIGATION_ONLY";
            break;
        case MAV_AUTOPILOT_GENERIC_MISSION_FULL:
            return "GENERIC_MISSION_FULL";
            break;
        case MAV_AUTOPILOT_INVALID:
            return "NO AP";
            break;
        case MAV_AUTOPILOT_PPZ:
            return "PPZ";
            break;
        case MAV_AUTOPILOT_UDB:
            return "UDB";
            break;
        case MAV_AUTOPILOT_FP:
            return "FP";
            break;
        case MAV_AUTOPILOT_PX4:
            return "PX4";
            break;
        default:
            return "";
            break;
        }
    }
708 709 710 711 712
    /** From UASInterface */
    QList<QAction*> getActions() const
    {
        return actions;
    }
713 714 715 716 717 718 719 720 721 722 723 724 725 726 727 728 729 730

public slots:
    /** @brief Set the autopilot type */
    void setAutopilotType(int apType)
    {
        autopilot = apType;
        emit systemSpecsChanged(uasId);
    }
    /** @brief Set the type of airframe */
    void setSystemType(int systemType);
    /** @brief Set the specific airframe type */
    void setAirframe(int airframe)
    {
        if((airframe >= QGC_AIRFRAME_GENERIC) && (airframe < QGC_AIRFRAME_END_OF_ENUM))
        {
          this->airframe = airframe;
          emit systemSpecsChanged(uasId);
        }
731

732 733 734 735 736 737 738
    }
    /** @brief Set a new name **/
    void setUASName(const QString& name);
    /** @brief Executes a command **/
    void executeCommand(MAV_CMD command);
    /** @brief Executes a command with 7 params */
    void executeCommand(MAV_CMD command, int confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7, int component);
739 740
    /** @brief Executes a command ack, with success boolean **/
    void executeCommandAck(int num, bool success);
741 742 743 744 745 746 747 748 749 750 751 752 753 754 755
    /** @brief Set the current battery type and voltages */
    void setBatterySpecs(const QString& specs);
    /** @brief Get the current battery type and specs */
    QString getBatterySpecs();

    /** @brief Launches the system **/
    void launch();
    /** @brief Write this waypoint to the list of waypoints */
    //void setWaypoint(Waypoint* wp); FIXME tbd
    /** @brief Set currently active waypoint */
    //void setWaypointActive(int id); FIXME tbd
    /** @brief Order the robot to return home **/
    void home();
    /** @brief Order the robot to land **/
    void land();
756 757 758
    /** @brief Order the robot to pair its receiver **/
    void pairRX(int rxType, int rxSubType);

759 760 761 762
    void halt();
    void go();

    /** @brief Enable / disable HIL */
763
    void enableHilFlightGear(bool enable, QString options, bool sensorHil, QObject * configuration);
764
    void enableHilJSBSim(bool enable, QString options);
765 766 767
    void enableHilXPlane(bool enable);

    /** @brief Send the full HIL state to the MAV */
768 769
    void sendHilState(quint64 time_us, float roll, float pitch, float yaw, float rollRotationRate,
                        float pitchRotationRate, float yawRotationRate, double lat, double lon, double alt,
770 771 772 773 774
                        float vx, float vy, float vz, float ind_airspeed, float true_airspeed, float xacc, float yacc, float zacc);

    void sendHilGroundTruth(quint64 time_us, float roll, float pitch, float yaw, float rollRotationRate,
                        float pitchRotationRate, float yawRotationRate, double lat, double lon, double alt,
                        float vx, float vy, float vz, float ind_airspeed, float true_airspeed, float xacc, float yacc, float zacc);
775

Lorenz Meier's avatar
Lorenz Meier committed
776
    /** @brief RAW sensors for sensor HIL */
777 778
    void sendHilSensors(quint64 time_us, float xacc, float yacc, float zacc, float rollspeed, float pitchspeed, float yawspeed,
                        float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float temperature, quint32 fields_changed);
Lorenz Meier's avatar
Lorenz Meier committed
779

Lorenz Meier's avatar
Lorenz Meier committed
780 781 782 783 784 785 786 787 788 789 790 791
    /**
     * @param time_us
     * @param lat
     * @param lon
     * @param alt
     * @param fix_type
     * @param eph
     * @param epv
     * @param vel
     * @param cog course over ground, in radians, -pi..pi
     * @param satellites
     */
792
    void sendHilGps(quint64 time_us, double lat, double lon, double alt, int fix_type, float eph, float epv, float vel, float vn, float ve, float vd,  float cog, int satellites);
Lorenz Meier's avatar
Lorenz Meier committed
793 794


795 796 797 798 799 800 801 802 803 804 805 806 807 808 809 810 811 812 813 814 815 816 817 818 819 820
    /** @brief Places the UAV in Hardware-in-the-Loop simulation status **/
    void startHil();

    /** @brief Stops the UAV's Hardware-in-the-Loop simulation status **/
    void stopHil();


    /** @brief Stops the robot system. If it is an MAV, the robot starts the emergency landing procedure **/
    void emergencySTOP();

    /** @brief Kills the robot. All systems are immediately shut down (e.g. the main power line is cut). This might lead to a crash **/
    bool emergencyKILL();

    /** @brief Shut the system cleanly down. Will shut down any onboard computers **/
    void shutdown();

    /** @brief Set the target position for the robot to navigate to. */
    void setTargetPosition(float x, float y, float z, float yaw);

    void startLowBattAlarm();
    void stopLowBattAlarm();

    /** @brief Arm system */
    void armSystem();
    /** @brief Disable the motors */
    void disarmSystem();
821 822
    /** @brief Toggle the armed state of the system. */
    void toggleArmedState();
823 824 825 826 827 828 829 830 831 832 833 834
    /**
     * @brief Tell the UAS to switch into a completely-autonomous mode, so disable manual input.
     */
    void goAutonomous();
    /**
     * @brief Tell the UAS to switch to manual control. Stabilized attitude may simultaneously be engaged.
     */
    void goManual();
    /**
     * @brief Tell the UAS to switch between manual and autonomous control.
     */
    void toggleAutonomy();
835 836 837 838 839 840 841 842 843 844 845 846 847 848 849 850 851 852 853 854 855 856 857 858 859 860 861 862 863 864 865

    /** @brief Set the values for the manual control of the vehicle */
    void setManualControlCommands(double roll, double pitch, double yaw, double thrust, int xHat, int yHat, int buttons);

    /** @brief Set the values for the 6dof manual control of the vehicle */
    void setManual6DOFControlCommands(double x, double y, double z, double roll, double pitch, double yaw);

    /** @brief Add a link associated with this robot */
    void addLink(LinkInterface* link);
    /** @brief Remove a link associated with this robot */
    void removeLink(QObject* object);

    /** @brief Receive a message from one of the communication links. */
    virtual void receiveMessage(LinkInterface* link, mavlink_message_t message);

#ifdef QGC_PROTOBUF_ENABLED
    /** @brief Receive a message from one of the communication links. */
    virtual void receiveExtendedMessage(LinkInterface* link, std::tr1::shared_ptr<google::protobuf::Message> message);
#endif

    /** @brief Send a message over this link (to this or to all UAS on this link) */
    void sendMessage(LinkInterface* link, mavlink_message_t message);
    /** @brief Send a message over all links this UAS can be reached with (!= all links) */
    void sendMessage(mavlink_message_t message);

    /** @brief Temporary Hack for sending packets to patch Antenna. Send a message over all serial links except for this UAS's */
    void forwardMessage(mavlink_message_t message);

    /** @brief Set this UAS as the system currently in focus, e.g. in the main display widgets */
    void setSelected();

866
    /** @brief Set current mode of operation, e.g. auto or manual, always uses the current arming status for safety reason */
867
    void setMode(uint8_t newBaseMode, uint32_t newCustomMode);
868

869 870 871
    /** @brief Set current mode of operation, e.g. auto or manual, does not check the arming status, for anything else than arming/disarming operations use setMode instead */
    void setModeArm(uint8_t newBaseMode, uint32_t newCustomMode);

872 873 874 875 876 877 878 879 880
    /** @brief Request all parameters */
    void requestParameters();

    /** @brief Request a single parameter by name */
    void requestParameter(int component, const QString& parameter);
    /** @brief Request a single parameter by index */
    void requestParameter(int component, int id);

    /** @brief Set a system parameter */
881
    void setParameter(const int compId, const QString& paramId, const QVariant& value);
882 883 884 885 886 887 888 889 890 891 892 893 894 895 896 897 898 899 900 901 902 903 904 905 906 907 908 909 910 911 912 913 914 915 916

    /** @brief Write parameters to permanent storage */
    void writeParametersToStorage();
    /** @brief Read parameters from permanent storage */
    void readParametersFromStorage();

    /** @brief Get the names of all parameters */
    QList<QString> getParameterNames(int component);

    /** @brief Get the ids of all components */
    QList<int> getComponentIds();

    void enableAllDataTransmission(int rate);
    void enableRawSensorDataTransmission(int rate);
    void enableExtendedSystemStatusTransmission(int rate);
    void enableRCChannelDataTransmission(int rate);
    void enableRawControllerDataTransmission(int rate);
    //void enableRawSensorFusionTransmission(int rate);
    void enablePositionTransmission(int rate);
    void enableExtra1Transmission(int rate);
    void enableExtra2Transmission(int rate);
    void enableExtra3Transmission(int rate);

    /** @brief Update the system state */
    void updateState();

    /** @brief Set world frame origin at current GPS position */
    void setLocalOriginAtCurrentGPSPosition();
    /** @brief Set world frame origin / home position at this GPS position */
    void setHomePosition(double lat, double lon, double alt);
    /** @brief Set local position setpoint */
    void setLocalPositionSetpoint(float x, float y, float z, float yaw);
    /** @brief Add an offset in body frame to the setpoint */
    void setLocalPositionOffset(float x, float y, float z, float yaw);

917
    void startRadioControlCalibration(int param=1);
918
    void endRadioControlCalibration();
919 920 921 922 923 924 925
    void startMagnetometerCalibration();
    void startGyroscopeCalibration();
    void startPressureCalibration();

    void startDataRecording();
    void stopDataRecording();
    void deleteSettings();
926 927 928

    /** @brief Triggers the action associated with the given ID. */
    void triggerAction(int action);
929 930 931 932 933 934 935 936 937 938 939 940 941 942 943 944
signals:
    /** @brief The main/battery voltage has changed/was updated */
    //void voltageChanged(int uasId, double voltage); // Defined in UASInterface already
    /** @brief An actuator value has changed */
    //void actuatorChanged(UASInterface*, int actId, double value); // Defined in UASInterface already
    /** @brief An actuator value has changed */
    void actuatorChanged(UASInterface* uas, QString actuatorName, double min, double max, double value);
    void motorChanged(UASInterface* uas, QString motorName, double min, double max, double value);
    /** @brief The system load (MCU/CPU usage) changed */
    void loadChanged(UASInterface* uas, double load);
    /** @brief Propagate a heartbeat received from the system */
    //void heartbeat(UASInterface* uas); // Defined in UASInterface already
    void imageStarted(quint64 timestamp);
    /** @brief A new camera image has arrived */
    void imageReady(UASInterface* uas);
    /** @brief HIL controls have changed */
945
    void hilControlsChanged(quint64 time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, quint8 systemMode, quint8 navMode);
946
    /** @brief HIL actuator outputs have changed */
947
    void hilActuatorsChanged(quint64 time, float act1, float act2, float act3, float act4, float act5, float act6, float act7, float act8);
948

949 950 951 952 953
    void localXChanged(double val,QString name);
    void localYChanged(double val,QString name);
    void localZChanged(double val,QString name);
    void longitudeChanged(double val,QString name);
    void latitudeChanged(double val,QString name);
954 955
    void altitudeAMSLChanged(double val,QString name);
    void altitudeRelativeChanged(double val,QString name);
956 957 958 959
    void rollChanged(double val,QString name);
    void pitchChanged(double val,QString name);
    void yawChanged(double val,QString name);
    void satelliteCountChanged(double val,QString name);
960
    void distToWaypointChanged(double val,QString name);
961
    void groundSpeedChanged(double val, QString name);
962
    void airSpeedChanged(double val, QString name);
963
    void bearingToWaypointChanged(double val,QString name);
964 965 966 967 968 969 970
protected:
    /** @brief Get the UNIX timestamp in milliseconds, enter microseconds */
    quint64 getUnixTime(quint64 time=0);
    /** @brief Get the UNIX timestamp in milliseconds, enter milliseconds */
    quint64 getUnixTimeFromMs(quint64 time);
    /** @brief Get the UNIX timestamp in milliseconds, ignore attitudeStamped mode */
    quint64 getUnixReferenceTime(quint64 time);
971

972 973
    virtual void processParamValueMsg(mavlink_message_t& msg, const QString& paramName,const mavlink_param_value_t& rawValue, mavlink_param_union_t& paramValue);

974 975 976 977 978 979 980 981
    int componentID[256];
    bool componentMulti[256];
    bool connectionLost; ///< Flag indicates a timed out connection
    quint64 connectionLossTime; ///< Time the connection was interrupted
    quint64 lastVoltageWarning; ///< Time at which the last voltage warning occured
    quint64 lastNonNullTime;    ///< The last timestamp from the MAV that was not null
    unsigned int onboardTimeOffsetInvalidCount;     ///< Count when the offboard time offset estimation seemed wrong
    bool hilEnabled;            ///< Set to true if HIL mode is enabled from GCS (UAS might be in HIL even if this flag is not set, this defines the GCS HIL setting)
982
    bool sensorHil;             ///< True if sensor HIL is enabled
983
    quint64 lastSendTimeGPS;     ///< Last HIL GPS message sent
984
    quint64 lastSendTimeSensors;
985
    QList<QAction*> actions; ///< A list of actions that this UAS can perform.
986

987

988 989 990 991 992 993 994 995 996 997 998 999 1000 1001 1002 1003
protected slots:
    /** @brief Write settings to disk */
    void writeSettings();
    /** @brief Read settings from disk */
    void readSettings();

//    // MESSAGE RECEPTION
//    /** @brief Receive a named value message */
//    void receiveMessageNamedValue(const mavlink_message_t& message);

private:
//    unsigned int mode;          ///< The current mode of the MAV
};


#endif // _UAS_H_