UAS.h 24.5 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
/*=====================================================================

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"
dogmaphobic's avatar
dogmaphobic committed
39
#include "FileManager.h"
40
#include "Vehicle.h"
41
#include "FirmwarePluginManager.h"
42

dogmaphobic's avatar
dogmaphobic committed
43
#ifndef __mobile__
44 45
#include "QGCHilLink.h"
#include "QGCFlightGearLink.h"
46
#include "QGCJSBSimLink.h"
47
#include "QGCXPlaneLink.h"
dogmaphobic's avatar
dogmaphobic committed
48
#endif
49

50
Q_DECLARE_LOGGING_CATEGORY(UASLog)
tstellanova's avatar
tstellanova committed
51

52 53
class Vehicle;

54 55 56 57 58 59 60 61 62 63 64 65
/**
 * @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:
66
    UAS(MAVLinkProtocol* protocol, Vehicle* vehicle, FirmwarePluginManager * firmwarePluginManager);
67 68
    ~UAS();

69 70
    float lipoFull;  ///< 100% charged voltage
    float lipoEmpty; ///< Discharged voltage
71 72 73 74 75 76 77 78 79 80 81

    /* MANAGEMENT */

    /** @brief Get the unique system id */
    int getUASID() const;
    /** @brief Get the components */
    QMap<int, QString> getComponents();

    /** @brief The time interval the robot is switched on */
    quint64 getUptime() const;
    /** @brief Add one measurement and get low-passed voltage */
82
    float filterVoltage(float value);
83

84 85
    Q_PROPERTY(double latitude READ getLatitude WRITE setLatitude NOTIFY latitudeChanged)
    Q_PROPERTY(double longitude READ getLongitude WRITE setLongitude NOTIFY longitudeChanged)
86
    Q_PROPERTY(double satelliteCount READ getSatelliteCount WRITE setSatelliteCount NOTIFY satelliteCountChanged)
87
    Q_PROPERTY(bool isGlobalPositionKnown READ globalPositionKnown)
88 89 90
    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)
91
    Q_PROPERTY(double distToWaypoint READ getDistToWaypoint WRITE setDistToWaypoint NOTIFY distToWaypointChanged)
92
    Q_PROPERTY(double airSpeed READ getGroundSpeed WRITE setGroundSpeed NOTIFY airSpeedChanged)
93
    Q_PROPERTY(double groundSpeed READ getGroundSpeed WRITE setGroundSpeed NOTIFY groundSpeedChanged)
94 95
    Q_PROPERTY(double bearingToWaypoint READ getBearingToWaypoint WRITE setBearingToWaypoint NOTIFY bearingToWaypointChanged)
    Q_PROPERTY(double altitudeAMSL READ getAltitudeAMSL WRITE setAltitudeAMSL NOTIFY altitudeAMSLChanged)
96 97
    Q_PROPERTY(double altitudeAMSLFT READ getAltitudeAMSLFT NOTIFY altitudeAMSLFTChanged)
    Q_PROPERTY(double altitudeWGS84 READ getAltitudeWGS84 WRITE setAltitudeWGS84 NOTIFY altitudeWGS84Changed)
98
    Q_PROPERTY(double altitudeRelative READ getAltitudeRelative WRITE setAltitudeRelative NOTIFY altitudeRelativeChanged)
99

100 101
    void clearVehicle(void) { _vehicle = NULL; }
    
102 103 104 105 106 107 108 109 110 111
    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;
    }
112

113 114 115 116 117 118 119 120 121 122 123
    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;
    }
124 125 126 127 128

    void setLocalX(double val)
    {
        localX = val;
        emit localXChanged(val,"localX");
129
        emit valueChanged(this->uasId,"localX","m",QVariant(val),getUnixTime());
130
    }
131

132 133 134 135
    double getLocalX() const
    {
        return localX;
    }
136 137 138 139 140

    void setLocalY(double val)
    {
        localY = val;
        emit localYChanged(val,"localY");
141
        emit valueChanged(this->uasId,"localY","m",QVariant(val),getUnixTime());
142
    }
143 144 145 146
    double getLocalY() const
    {
        return localY;
    }
147 148 149 150 151

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

    void setLatitude(double val)
    {
        latitude = val;
        emit latitudeChanged(val,"latitude");
163
        emit valueChanged(this->uasId,"latitude","deg",QVariant(val),getUnixTime());
164
    }
165

166 167 168 169
    double getLatitude() const
    {
        return latitude;
    }
170 171 172 173 174

    void setLongitude(double val)
    {
        longitude = val;
        emit longitudeChanged(val,"longitude");
175
        emit valueChanged(this->uasId,"longitude","deg",QVariant(val),getUnixTime());
176
    }
177

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

183
    void setAltitudeAMSL(double val)
184
    {
185 186
        altitudeAMSL = val;
        emit altitudeAMSLChanged(val, "altitudeAMSL");
187 188 189 190
        emit valueChanged(this->uasId,"altitudeAMSL","m",QVariant(altitudeAMSL),getUnixTime());
        altitudeAMSLFT = 3.28084 * altitudeAMSL;
        emit altitudeAMSLFTChanged(val, "altitudeAMSLFT");
        emit valueChanged(this->uasId,"altitudeAMSLFT","m",QVariant(altitudeAMSLFT),getUnixTime());
191 192
    }

193
    double getAltitudeAMSL() const
194
    {
195 196 197
        return altitudeAMSL;
    }

198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215
    double getAltitudeAMSLFT() const
    {
        return altitudeAMSLFT;
    }

    void setAltitudeWGS84(double val)
    {
        altitudeWGS84 = val;
        emit altitudeWGS84Changed(val, "altitudeWGS84");
        emit valueChanged(this->uasId,"altitudeWGS84","m",QVariant(val),getUnixTime());
    }

    double getAltitudeWGS84() const
    {
        return altitudeWGS84;
    }


216 217 218 219 220 221 222 223 224 225
    void setAltitudeRelative(double val)
    {
        altitudeRelative = val;
        emit altitudeRelativeChanged(val, "altitudeRelative");
        emit valueChanged(this->uasId,"altitudeRelative","m",QVariant(val),getUnixTime());
    }

    double getAltitudeRelative() const
    {
        return altitudeRelative;
226
    }
227 228 229 230 231

    void setSatelliteCount(double val)
    {
        satelliteCount = val;
        emit satelliteCountChanged(val,"satelliteCount");
232
        emit valueChanged(this->uasId,"satelliteCount","",QVariant(val),getUnixTime());
233 234 235 236 237 238 239
    }

    double getSatelliteCount() const
    {
        return satelliteCount;
    }

240 241 242 243 244
    virtual bool globalPositionKnown() const
    {
        return isGlobalPositionKnown;
    }

245 246 247 248
    void setDistToWaypoint(double val)
    {
        distToWaypoint = val;
        emit distToWaypointChanged(val,"distToWaypoint");
249
        emit valueChanged(this->uasId,"distToWaypoint","m",QVariant(val),getUnixTime());
250 251 252 253 254 255 256
    }

    double getDistToWaypoint() const
    {
        return distToWaypoint;
    }

257 258 259 260
    void setBearingToWaypoint(double val)
    {
        bearingToWaypoint = val;
        emit bearingToWaypointChanged(val,"bearingToWaypoint");
261
        emit valueChanged(this->uasId,"bearingToWaypoint","deg",QVariant(val),getUnixTime());
262 263 264 265 266 267 268 269
    }

    double getBearingToWaypoint() const
    {
        return bearingToWaypoint;
    }


270 271 272 273 274 275
    void setRoll(double val)
    {
        roll = val;
        emit rollChanged(val,"roll");
    }

276 277 278 279
    double getRoll() const
    {
        return roll;
    }
280 281 282 283 284 285 286

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

287 288 289 290
    double getPitch() const
    {
        return pitch;
    }
291 292 293 294 295 296 297

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

298 299 300 301
    double getYaw() const
    {
        return yaw;
    }
302

303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355
    // Setters for HIL noise variance
    void setXaccVar(float var){
        xacc_var = var;
    }

    void setYaccVar(float var){
        yacc_var = var;
    }

    void setZaccVar(float var){
        zacc_var = var;
    }

    void setRollSpeedVar(float var){
        rollspeed_var = var;
    }

    void setPitchSpeedVar(float var){
        pitchspeed_var = var;
    }

    void setYawSpeedVar(float var){
        pitchspeed_var = var;
    }

    void setXmagVar(float var){
        xmag_var = var;
    }

    void setYmagVar(float var){
        ymag_var = var;
    }

    void setZmagVar(float var){
        zmag_var = var;
    }

    void setAbsPressureVar(float var){
        abs_pressure_var = var;
    }

    void setDiffPressureVar(float var){
        diff_pressure_var = var;
    }

    void setPressureAltVar(float var){
        pressure_alt_var = var;
    }

    void setTemperatureVar(float var){
        temperature_var = var;
    }

356
    friend class FileManager;
357 358

protected: //COMMENTS FOR TEST UNIT
359
    /// LINK ID AND STATUS
360
    int uasId;                    ///< Unique system ID
361
    QMap<int, QString> components;///< IDs and names of all detected onboard components
362
    
363 364
    QList<int> unknownPackets;    ///< Packet IDs which are unknown and have been received
    MAVLinkProtocol* mavlink;     ///< Reference to the MAVLink instance
365 366 367
    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
368
    QTimer statusTimeout;       ///< Timer for various status timeouts
369

370
    /// BASIC UAS TYPE, NAME AND STATE
371
    uint8_t base_mode;                 ///< The current mode of the MAV
372 373
    uint32_t custom_mode;         ///< The current mode of the MAV
    int status;                   ///< The current status of the MAV
374

375 376
    // dongfang: This looks like a candidate for being moved off to a separate class.
    /// BATTERY / ENERGY
377 378 379 380 381 382 383
    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 warnLevelPercent;     ///< Warning level, in percent
    double currentVoltage;      ///< Voltage currently measured
    float lpVoltage;            ///< Low-pass filtered voltage
dongfang's avatar
dongfang committed
384
    double currentCurrent;      ///< Battery current currently measured
385 386
    bool batteryRemainingEstimateEnabled; ///< If the estimate is enabled, QGC will try to estimate the remaining battery life
    float chargeLevel;          ///< Charge level of battery, in percent
387 388 389 390 391
    bool lowBattAlarm;          ///< Switch if battery is low


    /// TIMEKEEPING
    quint64 startTime;            ///< The time the UAS was switched on
392 393
    quint64 onboardTimeOffset;

394
    /// MANUAL CONTROL
395 396 397 398 399 400 401 402 403
    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)
404 405

    /// POSITION
406
    bool positionLock;          ///< Status if position information is available or not
407
    bool isGlobalPositionKnown; ///< If the global position has been received for this MAV
408

409 410 411
    double localX;
    double localY;
    double localZ;
412

413 414
    double latitude;            ///< Global latitude as estimated by position estimator
    double longitude;           ///< Global longitude as estimated by position estimator
415 416 417
    double altitudeAMSL;        ///< Global altitude as estimated by position estimator, AMSL
    double altitudeAMSLFT;        ///< Global altitude as estimated by position estimator, AMSL
    double altitudeWGS84;        ///< Global altitude as estimated by position estimator, WGS84
418
    double altitudeRelative;    ///< Altitude above home as estimated by position estimator
419

420
    double satelliteCount;      ///< Number of satellites visible to raw GPS
421 422 423 424
    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
425 426 427
    double speedX;              ///< True speed in X axis
    double speedY;              ///< True speed in Y axis
    double speedZ;              ///< True speed in Z axis
428 429

    /// WAYPOINT NAVIGATION
430
    double distToWaypoint;       ///< Distance to next waypoint
431 432
    double airSpeed;             ///< Airspeed
    double groundSpeed;          ///< Groundspeed
433
    double bearingToWaypoint;    ///< Bearing to next waypoint
434
    FileManager   fileManager;
435 436 437 438 439

    /// 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
440 441 442 443
    double roll;
    double pitch;
    double yaw;

444 445
    // dongfang: This looks like a candidate for being moved off to a separate class.
    /// IMAGING
446 447 448 449 450 451 452 453 454 455 456
    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;
457
    bool blockHomePositionChanges;   ///< Block changes to the home position
458
    bool receivedMode;          ///< True if mode was retrieved from current conenction to UAS
459

460 461 462 463 464 465 466 467 468 469 470 471 472 473 474
    /// SIMULATION NOISE
    float xacc_var;             ///< variance of x acclerometer noise for HIL sim (mg)
    float yacc_var;             ///< variance of y acclerometer noise for HIL sim (mg)
    float zacc_var;             ///< variance of z acclerometer noise for HIL sim (mg)
    float rollspeed_var;        ///< variance of x gyroscope noise for HIL sim (rad/s)
    float pitchspeed_var;       ///< variance of y gyroscope noise for HIL sim (rad/s)
    float yawspeed_var;         ///< variance of z gyroscope noise for HIL sim (rad/s)
    float xmag_var;             ///< variance of x magnatometer noise for HIL sim (???)
    float ymag_var;             ///< variance of y magnatometer noise for HIL sim (???)
    float zmag_var;             ///< variance of z magnatometer noise for HIL sim (???)
    float abs_pressure_var;     ///< variance of absolute pressure noise for HIL sim (hPa)
    float diff_pressure_var;    ///< variance of differential pressure noise for HIL sim (hPa)
    float pressure_alt_var;     ///< variance of altitude pressure noise for HIL sim (hPa)
    float temperature_var;      ///< variance of temperature noise for HIL sim (C)

475
    /// SIMULATION
dogmaphobic's avatar
dogmaphobic committed
476
#ifndef __mobile__
477
    QGCHilLink* simulation;         ///< Hardware in the loop simulation link
dogmaphobic's avatar
dogmaphobic committed
478
#endif
479 480 481 482 483 484 485

public:
    /** @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);

486
    virtual FileManager* getFileManager() {
487 488 489
        return &fileManager;
    }

490
    /** @brief Get the HIL simulation */
dogmaphobic's avatar
dogmaphobic committed
491
#ifndef __mobile__
492 493 494
    QGCHilLink* getHILSimulation() const {
        return simulation;
    }
dogmaphobic's avatar
dogmaphobic committed
495
#endif
496

497 498 499 500 501 502
    QImage getImage();
    void requestImage();

public slots:
    /** @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);
Don Gagne's avatar
Don Gagne committed
503

504 505 506
    /** @brief Order the robot to pair its receiver **/
    void pairRX(int rxType, int rxSubType);

507
    /** @brief Enable / disable HIL */
dogmaphobic's avatar
dogmaphobic committed
508
#ifndef __mobile__
509
    void enableHilFlightGear(bool enable, QString options, bool sensorHil, QObject * configuration);
510
    void enableHilJSBSim(bool enable, QString options);
511 512 513
    void enableHilXPlane(bool enable);

    /** @brief Send the full HIL state to the MAV */
514 515
    void sendHilState(quint64 time_us, float roll, float pitch, float yaw, float rollRotationRate,
                        float pitchRotationRate, float yawRotationRate, double lat, double lon, double alt,
516 517 518 519 520
                        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);
521

Lorenz Meier's avatar
Lorenz Meier committed
522
    /** @brief RAW sensors for sensor HIL */
523 524
    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
525

526 527 528 529
    /** @brief Send Optical Flow sensor message for HIL, (arguments and units accoding to mavlink documentation*/
    void sendHilOpticalFlow(quint64 time_us, qint16 flow_x, qint16 flow_y, float flow_comp_m_x,
                            float flow_comp_m_y, quint8 quality, float ground_distance);

530 531
    float addZeroMeanNoise(float truth_meas, float noise_var);

Lorenz Meier's avatar
Lorenz Meier committed
532 533 534 535 536 537 538 539 540 541 542 543
    /**
     * @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
     */
544
    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
545 546


547 548 549 550 551
    /** @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();
dogmaphobic's avatar
dogmaphobic committed
552
#endif
553 554 555 556 557

    void startLowBattAlarm();
    void stopLowBattAlarm();

    /** @brief Set the values for the manual control of the vehicle */
dogmaphobic's avatar
dogmaphobic committed
558
#ifndef __mobile__
559
    void setExternalControlSetpoint(float roll, float pitch, float yaw, float thrust, quint16 buttons, int joystickMode);
dogmaphobic's avatar
dogmaphobic committed
560
#endif
561 562

    /** @brief Set the values for the 6dof manual control of the vehicle */
dogmaphobic's avatar
dogmaphobic committed
563
#ifndef __mobile__
564
    void setManual6DOFControlCommands(double x, double y, double z, double roll, double pitch, double yaw);
dogmaphobic's avatar
dogmaphobic committed
565
#endif
566 567

    /** @brief Receive a message from one of the communication links. */
568
    virtual void receiveMessage(mavlink_message_t message);
569 570 571 572

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

573 574
    void startCalibration(StartCalibrationType calType);
    void stopCalibration(void);
575

576 577 578
    void startBusConfig(StartBusConfigType calType);
    void stopBusConfig(void);

579
    /** @brief Send command to map a RC channel to a parameter */
580
    void sendMapRCToParam(QString param_id, float scale, float value0, quint8 param_rc_channel_index, float valueMin, float valueMax);
581 582 583

    /** @brief Send command to disable all bindings/maps between RC and parameters */
    void unsetRCToParameterMap();
584 585 586 587 588 589 590 591
signals:
    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 */
592
    void hilControlsChanged(quint64 time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, quint8 systemMode, quint8 navMode);
593
    /** @brief HIL actuator outputs have changed */
594
    void hilActuatorsChanged(quint64 time, float act1, float act2, float act3, float act4, float act5, float act6, float act7, float act8);
595

596 597 598 599 600
    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);
601
    void altitudeAMSLChanged(double val,QString name);
602 603
    void altitudeAMSLFTChanged(double val,QString name);
    void altitudeWGS84Changed(double val,QString name);
604
    void altitudeRelativeChanged(double val,QString name);
605 606 607 608
    void rollChanged(double val,QString name);
    void pitchChanged(double val,QString name);
    void yawChanged(double val,QString name);
    void satelliteCountChanged(double val,QString name);
609
    void distToWaypointChanged(double val,QString name);
610
    void groundSpeedChanged(double val, QString name);
611
    void airSpeedChanged(double val, QString name);
612
    void bearingToWaypointChanged(double val,QString name);
613 614 615 616 617 618 619
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);
620

621 622
    virtual void processParamValueMsg(mavlink_message_t& msg, const QString& paramName,const mavlink_param_value_t& rawValue, mavlink_param_union_t& paramValue);

623 624 625 626 627 628 629
    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
Don Gagne's avatar
Don Gagne committed
630
    bool hilEnabled;
631
    bool sensorHil;             ///< True if sensor HIL is enabled
632
    quint64 lastSendTimeGPS;     ///< Last HIL GPS message sent
633 634
    quint64 lastSendTimeSensors; ///< Last HIL Sensors message sent
    quint64 lastSendTimeOpticalFlow; ///< Last HIL Optical Flow message sent
635

636 637 638
private:
    void _say(const QString& text, int severity = 6);
    
639
private:
640 641
    Vehicle*                _vehicle;
    FirmwarePluginManager*  _firmwarePluginManager;
642 643 644 645
};


#endif // _UAS_H_