UAS.h 36.5 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 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58
#include "QGCXPlaneLink.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();

tstellanova's avatar
tstellanova committed
59 60
    static const float lipoFull = 4.2f;  ///< 100% charged voltage
    static const float lipoEmpty = 3.5f; ///< Discharged voltage
61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92

    /* 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 */
    static QString getShortModeTextFor(int id);
    /** @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();

93 94 95 96 97
    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)
98
    Q_PROPERTY(double satelliteCount READ getSatelliteCount WRITE setSatelliteCount NOTIFY satelliteCountChanged)
99 100
    Q_PROPERTY(bool isLocalPositionKnown READ localPositionKnown)
    Q_PROPERTY(bool isGlobalPositionKnown READ globalPositionKnown)
101 102 103
    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)
104
    Q_PROPERTY(double distToWaypoint READ getDistToWaypoint WRITE setDistToWaypoint NOTIFY distToWaypointChanged)
105 106 107 108 109 110 111 112 113 114 115 116
    Q_PROPERTY(double groundSpeed READ getGroundSpeed WRITE setGroundSpeed NOTIFY groundSpeedChanged)

    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;
    }
117 118 119 120 121
    Q_PROPERTY(double bearingToWaypoint READ getBearingToWaypoint WRITE setBearingToWaypoint NOTIFY bearingToWaypointChanged)

    // dongfang: There is not only one altitude; there are at least (APM) GPS altitude, mix altitude and mix-altitude relative to home.
    // I have made this property refer to the mix-altitude ASL as this is the one actually used in navigation by APM.
    Q_PROPERTY(double altitude READ getAltitude WRITE setAltitude NOTIFY altitudeChanged)
122 123 124 125 126

    void setLocalX(double val)
    {
        localX = val;
        emit localXChanged(val,"localX");
127
        emit valueChanged(this->uasId,"localX","M",QVariant(val),getUnixTime());
128
    }
129

130 131 132 133
    double getLocalX() const
    {
        return localX;
    }
134 135 136 137 138

    void setLocalY(double val)
    {
        localY = val;
        emit localYChanged(val,"localY");
139
        emit valueChanged(this->uasId,"localY","M",QVariant(val),getUnixTime());
140
    }
141 142 143 144
    double getLocalY() const
    {
        return localY;
    }
145 146 147 148 149

    void setLocalZ(double val)
    {
        localZ = val;
        emit localZChanged(val,"localZ");
150
        emit valueChanged(this->uasId,"localZ","M",QVariant(val),getUnixTime());
151
    }
152 153 154 155
    double getLocalZ() const
    {
        return localZ;
    }
156 157 158 159 160

    void setLatitude(double val)
    {
        latitude = val;
        emit latitudeChanged(val,"latitude");
161
        emit valueChanged(this->uasId,"latitude","deg",QVariant(val),getUnixTime());
162
    }
163

164 165 166 167
    double getLatitude() const
    {
        return latitude;
    }
168 169 170 171 172

    void setLongitude(double val)
    {
        longitude = val;
        emit longitudeChanged(val,"longitude");
173
        emit valueChanged(this->uasId,"longitude","deg",QVariant(val),getUnixTime());
174
    }
175

176 177 178 179
    double getLongitude() const
    {
        return longitude;
    }
180 181 182 183

    void setAltitude(double val)
    {
        altitude = val;
184
        emit altitudeChanged(val, "altitude");
185
        emit valueChanged(this->uasId,"altitude","M",QVariant(val),getUnixTime());
186 187
    }

188 189 190 191
    double getAltitude() const
    {
        return altitude;
    }
192 193 194 195 196

    void setSatelliteCount(double val)
    {
        satelliteCount = val;
        emit satelliteCountChanged(val,"satelliteCount");
197
        emit valueChanged(this->uasId,"satelliteCount","M",QVariant(val),getUnixTime());
198 199 200 201 202 203 204
    }

    double getSatelliteCount() const
    {
        return satelliteCount;
    }

205 206 207 208
    virtual bool localPositionKnown() const
    {
        return isLocalPositionKnown;
    }
209

210 211 212 213 214
    virtual bool globalPositionKnown() const
    {
        return isGlobalPositionKnown;
    }

215 216 217 218
    void setDistToWaypoint(double val)
    {
        distToWaypoint = val;
        emit distToWaypointChanged(val,"distToWaypoint");
219
        emit valueChanged(this->uasId,"distToWaypoint","M",QVariant(val),getUnixTime());
220 221 222 223 224 225 226
    }

    double getDistToWaypoint() const
    {
        return distToWaypoint;
    }

227 228 229 230 231 232 233 234 235 236 237 238 239
    void setBearingToWaypoint(double val)
    {
        bearingToWaypoint = val;
        emit bearingToWaypointChanged(val,"bearingToWaypoint");
        emit valueChanged(this->uasId,"bearingToWaypoint","M",QVariant(val),getUnixTime());
    }

    double getBearingToWaypoint() const
    {
        return bearingToWaypoint;
    }


240 241 242 243 244 245
    void setRoll(double val)
    {
        roll = val;
        emit rollChanged(val,"roll");
    }

246 247 248 249
    double getRoll() const
    {
        return roll;
    }
250 251 252 253 254 255 256

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

257 258 259 260
    double getPitch() const
    {
        return pitch;
    }
261 262 263 264 265 266 267

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

268 269 270 271
    double getYaw() const
    {
        return yaw;
    }
272

273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345
    bool getSelected() const;
    QVector3D getNedPosGlobalOffset() const
    {
        return nedPosGlobalOffset;
    }

    QVector3D getNedAttGlobalOffset() const
    {
        return nedAttGlobalOffset;
    }

#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
346
    /// LINK ID AND STATUS
347
    int uasId;                    ///< Unique system ID
348
    QMap<int, QString> components;///< IDs and names of all detected onboard components
349 350 351
    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
352 353 354 355 356
    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
357

358 359 360 361 362 363 364 365 366 367 368 369 370 371
    /// 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
    uint8_t mode;                 ///< The current mode of the MAV
    uint32_t custom_mode;         ///< The current mode of the MAV
    uint32_t navMode;             ///< The current navigation 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
372 373 374 375 376 377 378
    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

379 380 381 382
    // 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
383 384 385 386 387 388 389 390 391 392
    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
393
    double currentCurrent;      ///< Battery current currently measured
394 395 396
    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
397 398 399 400 401
    bool lowBattAlarm;          ///< Switch if battery is low


    /// TIMEKEEPING
    quint64 startTime;            ///< The time the UAS was switched on
402 403
    quint64 onboardTimeOffset;

404
    /// MANUAL CONTROL
405 406 407 408 409 410 411 412 413
    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)
414 415

    /// POSITION
416
    bool positionLock;          ///< Status if position information is available or not
417 418 419
    bool isLocalPositionKnown;      ///< If the local position has been received for this MAV
    bool isGlobalPositionKnown;     ///< If the global position has been received for this MAV

420 421 422
    double localX;
    double localY;
    double localZ;
423

424 425 426
    double latitude;            ///< Global latitude as estimated by position estimator
    double longitude;           ///< Global longitude as estimated by position estimator
    double altitude;            ///< Global altitude as estimated by position estimator
427

428
    double satelliteCount;      ///< Number of satellites visible to raw GPS
429 430 431 432
    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
433 434 435
    double speedX;              ///< True speed in X axis
    double speedY;              ///< True speed in Y axis
    double speedZ;              ///< True speed in Z axis
436 437 438 439 440

    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
441
    double distToWaypoint;       ///< Distance to next waypoint
442
    double groundSpeed;         ///< GPS Groundspeed
443 444 445 446 447 448 449
    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
450 451 452 453
    double roll;
    double pitch;
    double yaw;

454 455
    // dongfang: This looks like a candidate for being moved off to a separate class.
    /// IMAGING
456 457 458 459 460 461 462 463 464 465 466
    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;
467
    bool blockHomePositionChanges;   ///< Block changes to the home position
468 469 470 471 472 473 474 475 476 477 478 479 480 481 482 483 484 485 486 487 488 489 490

#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

491
    /// PARAMETERS
492 493 494
    QMap<int, QMap<QString, QVariant>* > parameters; ///< All parameters
    bool paramsOnceRequested;       ///< If the parameter list has been read at least once
    QGCUASParamManager* paramManager; ///< Parameter manager class
495 496

    /// SIMULATION
497 498 499 500 501 502 503 504 505 506 507 508 509 510 511 512 513 514 515 516 517 518 519 520 521 522 523 524 525 526 527 528 529 530 531
    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 Get the human-readable navigation mode translation for this mode */
    QString getNavModeText(int mode);
    /** @brief Check if vehicle is in autonomous mode */
    bool isAuto();
    /** @brief Check if vehicle is armed */
    bool isArmed() const { return systemIsArmed; }

    UASWaypointManager* getWaypointManager() {
        return &waypointManager;
    }
    /** @brief Get reference to the param manager **/
    QGCUASParamManager* getParamManager() const {
        return paramManager;
    }
    /** @brief Get the HIL simulation */
    QGCHilLink* getHILSimulation() const {
        return simulation;
    }
    // TODO Will be removed
    /** @brief Set reference to the param manager **/
    void setParamManager(QGCUASParamManager* manager) {
        paramManager = manager;
    }
    int getSystemType();
532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549 550 551 552 553 554 555 556 557 558 559 560 561 562 563 564 565

    /**
     * @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;
        }
    }

566 567 568 569 570 571 572 573 574 575 576 577 578 579 580 581 582 583 584 585 586 587 588 589 590 591 592 593 594 595 596 597 598 599 600 601 602 603 604 605 606 607 608 609 610 611 612 613 614 615 616 617 618 619 620 621 622 623 624 625 626 627 628 629 630 631 632 633 634 635 636 637 638 639 640 641 642 643 644 645 646 647 648 649 650 651 652 653 654 655 656 657 658 659 660 661 662 663 664 665 666 667 668 669 670 671 672 673 674 675 676 677 678 679
    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;
        }
    }
680 681 682 683 684
    /** From UASInterface */
    QList<QAction*> getActions() const
    {
        return actions;
    }
685 686 687 688 689 690 691 692 693 694 695 696 697 698 699 700 701 702

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);
        }
703

704 705 706 707 708 709 710
    }
    /** @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);
711 712
    /** @brief Executes a command ack, with success boolean **/
    void executeCommandAck(int num, bool success);
713 714 715 716 717 718 719 720 721 722 723 724 725 726 727 728 729 730 731 732
    /** @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();
    void halt();
    void go();

    /** @brief Enable / disable HIL */
    void enableHilFlightGear(bool enable, QString options);
733
    void enableHilJSBSim(bool enable, QString options);
734 735 736
    void enableHilXPlane(bool enable);

    /** @brief Send the full HIL state to the MAV */
737 738
    void sendHilState(quint64 time_us, float roll, float pitch, float yaw, float rollRotationRate,
                        float pitchRotationRate, float yawRotationRate, double lat, double lon, double alt,
739 740 741 742 743
                        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);
744

Lorenz Meier's avatar
Lorenz Meier committed
745
    /** @brief RAW sensors for sensor HIL */
746 747
    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
748

Lorenz Meier's avatar
Lorenz Meier committed
749 750 751 752 753 754 755 756 757 758 759 760
    /**
     * @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
     */
761
    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
762 763


764 765 766 767 768 769 770 771 772 773 774 775 776 777 778 779 780 781 782 783 784 785 786 787 788 789
    /** @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();
790 791
    /** @brief Toggle the armed state of the system. */
    void toggleArmedState();
792 793 794 795 796 797 798 799 800 801 802 803
    /**
     * @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();
804 805 806 807 808 809 810 811 812 813 814 815 816 817 818 819 820 821 822 823 824 825 826 827 828 829 830 831 832 833 834 835 836 837 838 839 840 841 842 843 844 845 846 847 848 849 850 851 852 853 854 855 856 857 858 859 860 861 862 863 864 865 866 867 868 869 870 871 872 873 874 875 876 877 878 879 880 881 882 883 884 885 886 887 888 889 890

    /** @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();

    /** @brief Set current mode of operation, e.g. auto or manual */
    void setMode(int mode);

    /** @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 */
    void setParameter(const int component, const QString& id, const QVariant& value);

    /** @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);

    void startRadioControlCalibration();
    void startMagnetometerCalibration();
    void startGyroscopeCalibration();
    void startPressureCalibration();

    void startDataRecording();
    void stopDataRecording();
    void deleteSettings();
891 892 893

    /** @brief Triggers the action associated with the given ID. */
    void triggerAction(int action);
894 895 896 897 898 899 900 901 902 903 904 905 906 907 908 909 910 911 912 913
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 */
    void hilControlsChanged(uint64_t time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, uint8_t systemMode, uint8_t navMode);
    /** @brief HIL actuator outputs have changed */
    void hilActuatorsChanged(uint64_t time, float act1, float act2, float act3, float act4, float act5, float act6, float act7, float act8);

914 915 916 917 918 919
    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);
    void altitudeChanged(double val,QString name);
920 921 922 923
    void rollChanged(double val,QString name);
    void pitchChanged(double val,QString name);
    void yawChanged(double val,QString name);
    void satelliteCountChanged(double val,QString name);
924
    void distToWaypointChanged(double val,QString name);
925
    void groundSpeedChanged(double val, QString name);
926
    void bearingToWaypointChanged(double val,QString name);
927

928 929 930
    //void primaryAltitudeChanged(UASInterface*, double altitude, quint64 usec);
    //void gpsAltitudeChanged(UASInterface*, double altitude, quint64 usec);
    //void velocityChanged_NED(UASInterface*, double vx, double vy, double vz, quint64 usec);
931 932 933 934 935 936 937
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);
938

939 940 941 942 943 944 945 946
    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)
947
    bool sensorHil;             ///< True if sensor HIL is enabled
948
    quint64 lastSendTimeGPS;     ///< Last HIL GPS message sent
949
    quint64 lastSendTimeSensors;
950
    QList<QAction*> actions; ///< A list of actions that this UAS can perform.
951 952 953 954 955 956 957 958 959 960 961 962 963 964 965 966 967

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_