UAS.h 24.8 KB
Newer Older
pixhawk's avatar
pixhawk committed
1 2
/*=====================================================================

3
QGroundControl Open Source Ground Control Station
pixhawk's avatar
pixhawk committed
4

5
(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
pixhawk's avatar
pixhawk committed
6

7
This file is part of the QGROUNDCONTROL project
pixhawk's avatar
pixhawk committed
8

9
    QGROUNDCONTROL is free software: you can redistribute it and/or modify
pixhawk's avatar
pixhawk committed
10 11 12 13
    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.

14
    QGROUNDCONTROL is distributed in the hope that it will be useful,
pixhawk's avatar
pixhawk committed
15 16 17 18 19
    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
20
    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
pixhawk's avatar
pixhawk committed
21 22 23 24 25 26 27 28 29 30 31 32 33 34 35

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

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

#ifndef _UAS_H_
#define _UAS_H_

#include "UASInterface.h"
36
#include <MAVLinkProtocol.h>
37
#include <QVector3D>
pixhawk's avatar
pixhawk committed
38
#include "QGCMAVLink.h"
lm's avatar
lm committed
39
#include "QGCFlightGearLink.h"
pixhawk's avatar
pixhawk committed
40 41 42 43 44 45 46 47 48

/**
 * @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.
 */
49 50
class UAS : public UASInterface
{
pixhawk's avatar
pixhawk committed
51 52
    Q_OBJECT
public:
53
    UAS(MAVLinkProtocol* protocol, int id = 0);
pixhawk's avatar
pixhawk committed
54 55
    ~UAS();

56 57
    enum BatteryType
    {
pixhawk's avatar
pixhawk committed
58 59 60 61 62 63
        NICD = 0,
        NIMH = 1,
        LIION = 2,
        LIPOLY = 3,
        LIFE = 4,
        AGZN = 5
64
    }; ///< The type of battery used
pixhawk's avatar
pixhawk committed
65 66 67 68 69 70 71

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

    /* MANAGEMENT */

    /** @brief The name of the robot */
72
    QString getUASName(void) const;
73 74 75 76
    /** @brief Get short state */
    const QString& getShortState() const;
    /** @brief Get short mode */
    const QString& getShortMode() const;
77 78
    /** @brief Translate from mode id to text */
    static QString getShortModeTextFor(int id);
79 80
    /** @brief Translate from mode id to audio text */
    static QString getAudioModeTextFor(int id);
pixhawk's avatar
pixhawk committed
81
    /** @brief Get the unique system id */
82
    int getUASID() const;
83
    /** @brief Get the airframe */
84 85
    int getAirframe() const
    {
86 87
        return airframe;
    }
LM's avatar
LM committed
88 89 90
    /** @brief Get the components */
    QMap<int, QString> getComponents();

pixhawk's avatar
pixhawk committed
91
    /** @brief The time interval the robot is switched on */
92
    quint64 getUptime() const;
pixhawk's avatar
pixhawk committed
93
    /** @brief Get the status flag for the communication */
94
    int getCommunicationStatus() const;
pixhawk's avatar
pixhawk committed
95
    /** @brief Add one measurement and get low-passed voltage */
96
    float filterVoltage(float value) const;
pixhawk's avatar
pixhawk committed
97 98 99
    /** @brief Get the links associated with this robot */
    QList<LinkInterface*>* getLinks();

LM's avatar
LM committed
100 101
    double getLocalX() const
    {
102 103
        return localX;
    }
LM's avatar
LM committed
104 105
    double getLocalY() const
    {
106 107
        return localY;
    }
LM's avatar
LM committed
108 109
    double getLocalZ() const
    {
110 111
        return localZ;
    }
112 113
    double getLatitude() const
    {
114 115
        return latitude;
    }
116 117
    double getLongitude() const
    {
118 119
        return longitude;
    }
120 121
    double getAltitude() const
    {
122 123
        return altitude;
    }
124 125 126 127 128 129 130 131
    virtual bool localPositionKnown() const
    {
        return isLocalPositionKnown;
    }
    virtual bool globalPositionKnown() const
    {
        return isGlobalPositionKnown;
    }
132

133 134
    double getRoll() const
    {
135 136
        return roll;
    }
137 138
    double getPitch() const
    {
139 140
        return pitch;
    }
141 142
    double getYaw() const
    {
143 144
        return yaw;
    }
145
    bool getSelected() const;
lm's avatar
lm committed
146

147 148 149 150 151 152 153 154 155 156
    QVector3D getNedPosGlobalOffset() const
    {
        return nedPosGlobalOffset;
    }

    QVector3D getNedAttGlobalOffset() const
    {
        return nedAttGlobalOffset;
    }

157
#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
158 159
    px::GLOverlay getOverlay()
    {
160 161
        QMutexLocker locker(&overlayMutex);
        return overlay;
162
    }
163

164 165
    px::GLOverlay getOverlay(qreal& receivedTimestamp)
    {
166 167 168
        receivedTimestamp = receivedOverlayTimestamp;
        QMutexLocker locker(&overlayMutex);
        return overlay;
169 170
    }

171 172
    px::ObstacleList getObstacleList() {
        QMutexLocker locker(&obstacleListMutex);
173 174
        return obstacleList;
    }
175

176
    px::ObstacleList getObstacleList(qreal& receivedTimestamp) {
177
        receivedTimestamp = receivedObstacleListTimestamp;
178
        QMutexLocker locker(&obstacleListMutex);
179 180 181
        return obstacleList;
    }

182 183
    px::Path getPath() {
        QMutexLocker locker(&pathMutex);
184 185
        return path;
    }
186

187
    px::Path getPath(qreal& receivedTimestamp) {
188
        receivedTimestamp = receivedPathTimestamp;
189
        QMutexLocker locker(&pathMutex);
190 191
        return path;
    }
192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213

    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;
    }
214 215
#endif

216
    friend class UASWaypointManager;
217

INIDETAM's avatar
INIDETAM committed
218
protected: //COMMENTS FOR TEST UNIT
219
    int uasId;                    ///< Unique system ID
220
    unsigned char type;           ///< UAS type (from type enum)
pixhawk's avatar
pixhawk committed
221 222 223
    quint64 startTime;            ///< The time the UAS was switched on
    CommStatus commStatus;        ///< Communication status
    QString name;                 ///< Human-friendly name of the vehicle, e.g. bravo
224
    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
pixhawk's avatar
pixhawk committed
225
    QList<LinkInterface*>* links; ///< List of links this UAS can be reached by
226
    QList<int> unknownPackets;    ///< Packet IDs which are unknown and have been received
227
    MAVLinkProtocol* mavlink;     ///< Reference to the MAVLink instance
pixhawk's avatar
pixhawk committed
228 229
    BatteryType batteryType;      ///< The battery type
    int cells;                    ///< Number of cells
pixhawk's avatar
pixhawk committed
230

231 232
    UASWaypointManager waypointManager;

pixhawk's avatar
pixhawk committed
233 234 235 236 237
    QList<double> actuatorValues;
    QList<QString> actuatorNames;

    QList<double> motorValues;
    QList<QString> motorNames;
LM's avatar
LM committed
238
    QMap<int, QString> components;  ///< IDs and names of all detected onboard components
pixhawk's avatar
pixhawk committed
239

pixhawk's avatar
pixhawk committed
240 241
    double thrustSum;           ///< Sum of forward/up thrust of all thrust actuators, in Newtons
    double thrustMax;           ///< Maximum forward/up thrust of this vehicle, in Newtons
pixhawk's avatar
pixhawk committed
242 243

    // Battery stats
244 245 246
    float fullVoltage;          ///< Voltage of the fully charged battery (100%)
    float emptyVoltage;         ///< Voltage of the empty battery (0%)
    float startVoltage;         ///< Voltage at system start
247 248 249
    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
250
    float warnVoltage;          ///< Voltage where QGC will start to warn about low battery
251
    float warnLevelPercent;     ///< Warning level, in percent
pixhawk's avatar
pixhawk committed
252 253
    double currentVoltage;      ///< Voltage currently measured
    float lpVoltage;            ///< Low-pass filtered voltage
254 255
    bool batteryRemainingEstimateEnabled; ///< If the estimate is enabled, QGC will try to estimate the remaining battery life
    float chargeLevel;          ///< Charge level of battery, in percent
pixhawk's avatar
pixhawk committed
256
    int timeRemaining;          ///< Remaining time calculated based on previous and current
LM's avatar
LM committed
257 258
    uint8_t mode;              ///< The current mode of the MAV
    uint32_t custom_mode;       ///< The current mode of the MAV
pixhawk's avatar
pixhawk committed
259
    int status;                 ///< The current status of the MAV
260
    uint32_t navMode;                ///< The current navigation mode of the MAV
pixhawk's avatar
pixhawk committed
261 262
    quint64 onboardTimeOffset;

pixhawk's avatar
pixhawk committed
263 264 265 266 267 268 269 270 271
    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)
lm's avatar
lm committed
272 273
    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
lm's avatar
lm committed
274
    bool lowBattAlarm;          ///< Switch if battery is low
275
    bool positionLock;          ///< Status if position information is available or not
lm's avatar
lm committed
276 277 278
    double localX;
    double localY;
    double localZ;
279 280 281
    double latitude;
    double longitude;
    double altitude;
282 283 284
    double speedX;              ///< True speed in X axis
    double speedY;              ///< True speed in Y axis
    double speedZ;              ///< True speed in Z axis
lm's avatar
lm committed
285 286 287
    double roll;
    double pitch;
    double yaw;
288
    quint64 lastHeartbeat;      ///< Time of the last heartbeat message
289
    QTimer* statusTimeout;      ///< Timer for various status timeouts
290 291 292 293 294

    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.
LM's avatar
LM committed
295 296
    int imageQuality;           ///< Quality of the transmitted image (percentage)
    int imageType;              ///< Type of the transmitted image (BMP, PNG, JPEG, RAW 8 bit, RAW 32 bit)
LM's avatar
LM committed
297 298
    int imageWidth;             ///< Width of the image stream
    int imageHeight;            ///< Width of the image stream
299 300 301 302
    QByteArray imageRecBuffer;  ///< Buffer for the incoming bytestream
    QImage image;               ///< Image data of last completely transmitted image
    quint64 imageStart;

303
#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
304 305 306
    px::GLOverlay overlay;
    QMutex overlayMutex;
    qreal receivedOverlayTimestamp;
307

308
    px::ObstacleList obstacleList;
309
    QMutex obstacleListMutex;
310 311
    qreal receivedObstacleListTimestamp;

312
    px::Path path;
313
    QMutex pathMutex;
314
    qreal receivedPathTimestamp;
315 316 317 318 319 320 321 322

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

    px::RGBDImage rgbdImage;
    QMutex rgbdImageMutex;
    qreal receivedRGBDImageTimestamp;
323 324
#endif

325
    QMap<int, QMap<QString, QVariant>* > parameters; ///< All parameters
lm's avatar
lm committed
326 327 328
    bool paramsOnceRequested;       ///< If the parameter list has been read at least once
    int airframe;                   ///< The airframe type
    bool attitudeKnown;             ///< True if attitude was received, false else
329
    QGCUASParamManager* paramManager; ///< Parameter manager class
lm's avatar
lm committed
330 331 332 333 334 335 336
    QString shortStateText;         ///< Short textual state description
    QString shortModeText;          ///< Short textual mode description
    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
    QGCFlightGearLink* simulation;  ///< Hardware in the loop simulation link
    bool isLocalPositionKnown;      ///< If the local position has been received for this MAV
    bool isGlobalPositionKnown;     ///< If the global position has been received for this MAV
337
    bool systemIsArmed;             ///< If the system is armed
338 339
    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
lm's avatar
lm committed
340

341
public:
pixhawk's avatar
pixhawk committed
342 343 344 345 346
    /** @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 */
347
    float getChargeLevel();
pixhawk's avatar
pixhawk committed
348 349
    /** @brief Get the human-readable status message for this code */
    void getStatusForCode(int statusCode, QString& uasState, QString& stateDescription);
350 351
    /** @brief Get the human-readable navigation mode translation for this mode */
    QString getNavModeText(int mode);
pixhawk's avatar
pixhawk committed
352 353
    /** @brief Check if vehicle is in autonomous mode */
    bool isAuto();
354 355
    /** @brief Check if vehicle is armed */
    bool isArmed() const { return systemIsArmed; }
pixhawk's avatar
pixhawk committed
356

357 358 359
    UASWaypointManager* getWaypointManager() {
        return &waypointManager;
    }
360
    /** @brief Get reference to the param manager **/
361 362 363
    QGCUASParamManager* getParamManager() const {
        return paramManager;
    }
364 365
    // TODO Will be removed
    /** @brief Set reference to the param manager **/
366 367 368
    void setParamManager(QGCUASParamManager* manager) {
        paramManager = manager;
    }
369
    int getSystemType();
lm's avatar
lm committed
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
    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;
        }
    }

431
    QImage getImage();
432
    void requestImage();
433 434 435
    int getAutopilotType() {
        return autopilot;
    }
lm's avatar
lm committed
436 437 438 439 440 441 442 443 444 445 446 447 448 449 450 451 452 453 454
    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;
lm's avatar
lm committed
455 456
        case MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLY:
            return "GENERIC_WAYPOINTS_ONLY";
lm's avatar
lm committed
457
            break;
lm's avatar
lm committed
458
        case MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLY:
lm's avatar
lm committed
459 460 461 462 463 464 465 466 467 468 469 470 471 472 473 474 475 476 477 478 479 480
            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;
        default:
            return "";
            break;
        }
    }
481

pixhawk's avatar
pixhawk committed
482
public slots:
483
    /** @brief Set the autopilot type */
lm's avatar
lm committed
484 485
    void setAutopilotType(int apType)
    {
486 487 488
        autopilot = apType;
        emit systemSpecsChanged(uasId);
    }
489
    /** @brief Set the type of airframe */
490
    void setSystemType(int systemType);
491
    /** @brief Set the specific airframe type */
lm's avatar
lm committed
492 493
    void setAirframe(int airframe)
    {
494 495 496
        this->airframe = airframe;
        emit systemSpecsChanged(uasId);
    }
497 498
    /** @brief Set a new name **/
    void setUASName(const QString& name);
lm's avatar
lm committed
499 500
    /** @brief Executes a command **/
    void executeCommand(MAV_CMD command);
501 502
    /** @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);
503 504 505 506
    /** @brief Set the current battery type and voltages */
    void setBatterySpecs(const QString& specs);
    /** @brief Get the current battery type and specs */
    QString getBatterySpecs();
507

pixhawk's avatar
pixhawk committed
508 509
    /** @brief Launches the system **/
    void launch();
lm's avatar
lm committed
510
    /** @brief Write this waypoint to the list of waypoints */
511
    //void setWaypoint(Waypoint* wp); FIXME tbd
lm's avatar
lm committed
512
    /** @brief Set currently active waypoint */
513
    //void setWaypointActive(int id); FIXME tbd
pixhawk's avatar
pixhawk committed
514 515 516 517
    /** @brief Order the robot to return home / to land on the runway **/
    void home();
    void halt();
    void go();
lm's avatar
lm committed
518 519 520 521 522 523 524 525 526 527

    /** @brief Enable / disable HIL */
    void enableHil(bool enable);

    /** @brief Send the full HIL state to the MAV */

    void sendHilState(	uint64_t time_us, float roll, float pitch, float yaw, float rollspeed,
                        float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt,
                        int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc);

528 529 530 531 532 533 534
    /** @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();


pixhawk's avatar
pixhawk committed
535 536 537 538 539 540 541 542 543
    /** @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();

544 545 546
    /** @brief Set the target position for the robot to navigate to. */
    void setTargetPosition(float x, float y, float z, float yaw);

lm's avatar
lm committed
547 548 549
    void startLowBattAlarm();
    void stopLowBattAlarm();

550 551
    /** @brief Arm system */
    void armSystem();
pixhawk's avatar
pixhawk committed
552
    /** @brief Disable the motors */
553
    void disarmSystem();
pixhawk's avatar
pixhawk committed
554 555 556 557 558 559

    /** @brief Set the values for the manual control of the vehicle */
    void setManualControlCommands(double roll, double pitch, double yaw, double thrust);
    /** @brief Receive a button pressed event from an input device, e.g. joystick */
    void receiveButton(int buttonIndex);

pixhawk's avatar
pixhawk committed
560
    /** @brief Add a link associated with this robot */
pixhawk's avatar
pixhawk committed
561
    void addLink(LinkInterface* link);
562 563
    /** @brief Remove a link associated with this robot */
    void removeLink(QObject* object);
pixhawk's avatar
pixhawk committed
564 565

    /** @brief Receive a message from one of the communication links. */
566
    virtual void receiveMessage(LinkInterface* link, mavlink_message_t message);
pixhawk's avatar
pixhawk committed
567

568 569 570 571 572
#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

pixhawk's avatar
pixhawk committed
573 574 575 576 577
    /** @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);

578 579 580
    /** @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);

pixhawk's avatar
pixhawk committed
581 582 583 584
    /** @brief Set this UAS as the system currently in focus, e.g. in the main display widgets */
    void setSelected();

    /** @brief Set current mode of operation, e.g. auto or manual */
pixhawk's avatar
pixhawk committed
585
    void setMode(int mode);
pixhawk's avatar
pixhawk committed
586

587 588 589
    /** @brief Request all parameters */
    void requestParameters();

590
    /** @brief Request a single parameter by name */
591
    void requestParameter(int component, const QString& parameter);
592
    /** @brief Request a single parameter by index */
593
    void requestParameter(int component, int id);
594

595
    /** @brief Set a system parameter */
596
    void setParameter(const int component, const QString& id, const QVariant& value);
597 598

    /** @brief Write parameters to permanent storage */
599 600 601
    void writeParametersToStorage();
    /** @brief Read parameters from permanent storage */
    void readParametersFromStorage();
602

603 604 605 606 607 608
    /** @brief Get the names of all parameters */
    QList<QString> getParameterNames(int component);

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

609 610 611 612 613
    void enableAllDataTransmission(int rate);
    void enableRawSensorDataTransmission(int rate);
    void enableExtendedSystemStatusTransmission(int rate);
    void enableRCChannelDataTransmission(int rate);
    void enableRawControllerDataTransmission(int rate);
lm's avatar
lm committed
614
    //void enableRawSensorFusionTransmission(int rate);
615 616 617 618
    void enablePositionTransmission(int rate);
    void enableExtra1Transmission(int rate);
    void enableExtra2Transmission(int rate);
    void enableExtra3Transmission(int rate);
lm's avatar
lm committed
619

620 621 622
    /** @brief Update the system state */
    void updateState();

623 624
    /** @brief Set world frame origin at current GPS position */
    void setLocalOriginAtCurrentGPSPosition();
625 626
    /** @brief Set world frame origin / home position at this GPS position */
    void setHomePosition(double lat, double lon, double alt);
pixhawk's avatar
pixhawk committed
627 628
    /** @brief Set local position setpoint */
    void setLocalPositionSetpoint(float x, float y, float z, float yaw);
pixhawk's avatar
pixhawk committed
629 630 631 632 633 634 635
    /** @brief Add an offset in body frame to the setpoint */
    void setLocalPositionOffset(float x, float y, float z, float yaw);

    void startRadioControlCalibration();
    void startMagnetometerCalibration();
    void startGyroscopeCalibration();
    void startPressureCalibration();
pixhawk's avatar
pixhawk committed
636

lm's avatar
lm committed
637 638 639
    void startDataRecording();
    void stopDataRecording();

pixhawk's avatar
pixhawk committed
640 641 642
signals:

    /** @brief The main/battery voltage has changed/was updated */
643
    //void voltageChanged(int uasId, double voltage); // Defined in UASInterface already
pixhawk's avatar
pixhawk committed
644
    /** @brief An actuator value has changed */
645
    //void actuatorChanged(UASInterface*, int actId, double value); // Defined in UASInterface already
pixhawk's avatar
pixhawk committed
646 647 648 649 650 651
    /** @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 */
652
    //void heartbeat(UASInterface* uas); // Defined in UASInterface already
653
    void imageStarted(quint64 timestamp);
654 655
    /** @brief A new camera image has arrived */
    void imageReady(UASInterface* uas);
lm's avatar
lm committed
656 657
    /** @brief HIL controls have changed */
    void hilControlsChanged(uint64_t time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, uint8_t systemMode, uint8_t navMode);
658

659
protected:
660
    /** @brief Get the UNIX timestamp in milliseconds, enter microseconds */
661
    quint64 getUnixTime(quint64 time=0);
662 663
    /** @brief Get the UNIX timestamp in milliseconds, enter milliseconds */
    quint64 getUnixTimeFromMs(quint64 time);
LM's avatar
LM committed
664 665
    /** @brief Get the UNIX timestamp in milliseconds, ignore attitudeStamped mode */
    quint64 getUnixReferenceTime(quint64 time);
666 667
    int componentID[256];
    bool componentMulti[256];
668 669

protected slots:
670 671 672 673
    /** @brief Write settings to disk */
    void writeSettings();
    /** @brief Read settings from disk */
    void readSettings();
674

675 676 677
//    // MESSAGE RECEPTION
//    /** @brief Receive a named value message */
//    void receiveMessageNamedValue(const mavlink_message_t& message);
678 679

private:
680
//    unsigned int mode;          ///< The current mode of the MAV
pixhawk's avatar
pixhawk committed
681 682 683 684
};


#endif // _UAS_H_