Vehicle.cc

/*=====================================================================
 
 QGroundControl Open Source Ground Control Station
 
 (c) 2009 - 2014 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/>.
 
 ======================================================================*/

#include "Vehicle.h"
#include "MAVLinkProtocol.h"
#include "FirmwarePluginManager.h"
#include "LinkManager.h"
#include "FirmwarePlugin.h"
#include "AutoPilotPluginManager.h"
#include "UASMessageHandler.h"
#include "UAS.h"
#include "JoystickManager.h"
#include "MissionManager.h"
#include "CoordinateVector.h"
#include "ParameterLoader.h"

QGC_LOGGING_CATEGORY(VehicleLog, "VehicleLog")

#define UPDATE_TIMER 50
#define DEFAULT_LAT  38.965767f
#define DEFAULT_LON -120.083923f

const char* Vehicle::_settingsGroup =               "Vehicle%1";        // %1 replaced with mavlink system id
const char* Vehicle::_joystickModeSettingsKey =     "JoystickMode";
const char* Vehicle::_joystickEnabledSettingsKey =  "JoystickEnabled";
const char* Vehicle::_communicationInactivityKey =  "CommunicationInactivity";

Vehicle::Vehicle(LinkInterface* link, int vehicleId, MAV_AUTOPILOT firmwareType, MAV_TYPE vehicleType)
    : _id(vehicleId)
    , _active(false)
    , _firmwareType(firmwareType)
    , _vehicleType(vehicleType)
    , _firmwarePlugin(NULL)
    , _autopilotPlugin(NULL)
    , _joystickMode(JoystickModeRC)
    , _joystickEnabled(false)
    , _uas(NULL)
    , _coordinate(37.803784, -122.462276)
    , _coordinateValid(false)
    , _homePositionAvailable(false)
    , _mav(NULL)
    , _currentMessageCount(0)
    , _messageCount(0)
    , _currentErrorCount(0)
    , _currentWarningCount(0)
    , _currentNormalCount(0)
    , _currentMessageType(MessageNone)
    , _roll(0.0f)
    , _pitch(0.0f)
    , _heading(0.0f)
    , _altitudeAMSL(0.0f)
    , _altitudeWGS84(0.0f)
    , _altitudeRelative(0.0f)
    , _groundSpeed(0.0f)
    , _airSpeed(0.0f)
    , _climbRate(0.0f)
    , _navigationAltitudeError(0.0f)
    , _navigationSpeedError(0.0f)
    , _navigationCrosstrackError(0.0f)
    , _navigationTargetBearing(0.0f)
    , _refreshTimer(new QTimer(this))
    , _batteryVoltage(-1.0f)
    , _batteryPercent(0.0)
    , _batteryConsumed(-1.0)
    , _currentHeartbeatTimeout(0)
    , _waypointDistance(0.0)
    , _currentWaypoint(0)
    , _satelliteCount(-1)
    , _satelliteLock(0)
    , _updateCount(0)
    , _missionManager(NULL)
    , _missionManagerInitialRequestComplete(false)
    , _parameterLoader(NULL)
    , _armed(false)
    , _base_mode(0)
    , _custom_mode(0)
    , _nextSendMessageMultipleIndex(0)
    , _communicationInactivityTimeoutMSecs(_communicationInactivityTimeoutMSecsDefault)
{
    _addLink(link);
    
    _mavlink = MAVLinkProtocol::instance();
    
    connect(_mavlink, &MAVLinkProtocol::messageReceived, this, &Vehicle::_mavlinkMessageReceived);
    connect(this, &Vehicle::_sendMessageOnThread, this, &Vehicle::_sendMessage, Qt::QueuedConnection);
    
    _uas = new UAS(_mavlink, this);
    
    setLatitude(_uas->getLatitude());
    setLongitude(_uas->getLongitude());
    
    connect(_uas, &UAS::latitudeChanged, this, &Vehicle::setLatitude);
    connect(_uas, &UAS::longitudeChanged, this, &Vehicle::setLongitude);
    
    _firmwarePlugin = FirmwarePluginManager::instance()->firmwarePluginForAutopilot(_firmwareType, _vehicleType);
    _autopilotPlugin = AutoPilotPluginManager::instance()->newAutopilotPluginForVehicle(this);
    
    connect(_autopilotPlugin, &AutoPilotPlugin::parametersReadyChanged,     this, &Vehicle::_parametersReady);
    connect(_autopilotPlugin, &AutoPilotPlugin::missingParametersChanged,   this, &Vehicle::missingParametersChanged);

    // Refresh timer
    connect(_refreshTimer, SIGNAL(timeout()), this, SLOT(_checkUpdate()));
    _refreshTimer->setInterval(UPDATE_TIMER);
    _refreshTimer->start(UPDATE_TIMER);
    emit heartbeatTimeoutChanged();
    
    _mav = uas();
    // Reset satellite count (no GPS)
    _satelliteCount = -1;
    emit satelliteCountChanged();
    // Reset connection lost (if any)
    _currentHeartbeatTimeout = 0;
    emit heartbeatTimeoutChanged();
    // Listen for system messages
    connect(UASMessageHandler::instance(), &UASMessageHandler::textMessageCountChanged, this, &Vehicle::_handleTextMessage);
    // Now connect the new UAS
    connect(_mav, SIGNAL(attitudeChanged                    (UASInterface*,double,double,double,quint64)),              this, SLOT(_updateAttitude(UASInterface*, double, double, double, quint64)));
    connect(_mav, SIGNAL(attitudeChanged                    (UASInterface*,int,double,double,double,quint64)),          this, SLOT(_updateAttitude(UASInterface*,int,double, double, double, quint64)));
    connect(_mav, SIGNAL(speedChanged                       (UASInterface*, double, double, quint64)),                  this, SLOT(_updateSpeed(UASInterface*, double, double, quint64)));
    connect(_mav, SIGNAL(altitudeChanged                    (UASInterface*, double, double, double, double, quint64)),  this, SLOT(_updateAltitude(UASInterface*, double, double, double, double, quint64)));
    connect(_mav, SIGNAL(navigationControllerErrorsChanged  (UASInterface*, double, double, double)),                   this, SLOT(_updateNavigationControllerErrors(UASInterface*, double, double, double)));
    connect(_mav, SIGNAL(statusChanged                      (UASInterface*,QString,QString)),                           this, SLOT(_updateState(UASInterface*, QString,QString)));
    connect(_mav, &UASInterface::NavigationControllerDataChanged,   this, &Vehicle::_updateNavigationControllerData);
    connect(_mav, &UASInterface::heartbeatTimeout,                  this, &Vehicle::_heartbeatTimeout);
    connect(_mav, &UASInterface::batteryChanged,                    this, &Vehicle::_updateBatteryRemaining);
    connect(_mav, &UASInterface::batteryConsumedChanged,            this, &Vehicle::_updateBatteryConsumedChanged);
    connect(_mav, &UASInterface::nameChanged,                       this, &Vehicle::_updateName);
    connect(_mav, &UASInterface::systemTypeSet,                     this, &Vehicle::_setSystemType);
    connect(_mav, &UASInterface::localizationChanged,               this, &Vehicle::_setSatLoc);
    UAS* pUas = dynamic_cast<UAS*>(_mav);
    if(pUas) {
        _setSatelliteCount(pUas->getSatelliteCount(), QString(""));
        connect(pUas, &UAS::satelliteCountChanged, this, &Vehicle::_setSatelliteCount);
    }
    _setSystemType(_mav, _mav->getSystemType());
    
    _loadSettings();
    
    _missionManager = new MissionManager(this);
    connect(_missionManager, &MissionManager::error, this, &Vehicle::_missionManagerError);

    _parameterLoader = new ParameterLoader(_autopilotPlugin, this /* Vehicle */, this /* parent */);
    connect(_parameterLoader, SIGNAL(parametersReady(bool)),        _autopilotPlugin, SLOT(_parametersReadyPreChecks(bool)));
    connect(_parameterLoader, SIGNAL(parameterListProgress(float)), _autopilotPlugin, SLOT(parameterListProgress(float)));

    _firmwarePlugin->initializeVehicle(this);
    
    _sendMultipleTimer.start(_sendMessageMultipleIntraMessageDelay);
    connect(&_sendMultipleTimer, &QTimer::timeout, this, &Vehicle::_sendMessageMultipleNext);
    
    _mapTrajectoryTimer.setInterval(_mapTrajectoryMsecsBetweenPoints);
    connect(&_mapTrajectoryTimer, &QTimer::timeout, this, &Vehicle::_addNewMapTrajectoryPoint);

    _communicationInactivityTimer.setInterval(_communicationInactivityTimeoutMSecs);
    connect(&_communicationInactivityTimer, &QTimer::timeout, this, &Vehicle::_communicationInactivityTimedOut);
    _communicationInactivityTimer.start();
}

Vehicle::~Vehicle()
{
    delete _missionManager;
    _missionManager = NULL;

    delete _mav;
    _mav = NULL;
}

void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message)
{
    if (message.sysid != _id && message.sysid != 0) {
        return;
    }

    _communicationInactivityTimer.start();
    
    if (!_containsLink(link)) {
        _addLink(link);
    }
    
    // Give the plugin a change to adjust the message contents
    _firmwarePlugin->adjustMavlinkMessage(&message);
    
    switch (message.msgid) {
        case MAVLINK_MSG_ID_HOME_POSITION:
            _handleHomePosition(message);
            break;
        case MAVLINK_MSG_ID_HEARTBEAT:
            _handleHeartbeat(message);
            break;
    }
    
    emit mavlinkMessageReceived(message);
    
    _uas->receiveMessage(message);
}

void Vehicle::_handleHomePosition(mavlink_message_t& message)
{
    bool emitHomePositionChanged =          false;
    bool emitHomePositionAvailableChanged = false;

    mavlink_home_position_t homePos;
    
    mavlink_msg_home_position_decode(&message, &homePos);

    QGeoCoordinate newHomePosition (homePos.latitude / 10000000.0,
                                    homePos.longitude / 10000000.0,
                                    homePos.altitude / 1000.0);
    if (newHomePosition != _homePosition) {
        emitHomePositionChanged = true;
        _homePosition = newHomePosition;
    }

    if (!_homePositionAvailable) {
        emitHomePositionAvailableChanged = true;
    }
    _homePositionAvailable = true;

    if (emitHomePositionChanged) {
        emit homePositionChanged(_homePosition);
    }
    if (emitHomePositionAvailableChanged) {
        emit homePositionAvailableChanged(true);
    }
}

void Vehicle::_handleHeartbeat(mavlink_message_t& message)
{
    mavlink_heartbeat_t heartbeat;
    
    mavlink_msg_heartbeat_decode(&message, &heartbeat);
    
    bool newArmed = heartbeat.base_mode & MAV_MODE_FLAG_DECODE_POSITION_SAFETY;
    
    if (_armed != newArmed) {
        _armed = newArmed;
        emit armedChanged(_armed);
        
        // We are transitioning to the armed state, begin tracking trajectory points for the map
        if (_armed) {
            _mapTrajectoryStart();
        } else {
            _mapTrajectoryStop();
        }
    }

    if (heartbeat.base_mode != _base_mode || heartbeat.custom_mode != _custom_mode) {
        _base_mode = heartbeat.base_mode;
        _custom_mode = heartbeat.custom_mode;
        emit flightModeChanged(flightMode());
    }
}

bool Vehicle::_containsLink(LinkInterface* link)
{
    foreach (SharedLinkInterface sharedLink, _links) {
        if (sharedLink.data() == link) {
            return true;
        }
    }
    
    return false;
}

void Vehicle::_addLink(LinkInterface* link)
{
    if (!_containsLink(link)) {
        _links += LinkManager::instance()->sharedPointerForLink(link);
        qCDebug(VehicleLog) << "_addLink:" << QString("%1").arg((ulong)link, 0, 16);
        connect(LinkManager::instance(), &LinkManager::linkDisconnected, this, &Vehicle::_linkDisconnected);
    }
}

void Vehicle::_linkDisconnected(LinkInterface* link)
{
    qCDebug(VehicleLog) << "_linkDisconnected:" << link->getName();
    qCDebug(VehicleLog) << "link count:" << _links.count();
    
    for (int i=0; i<_links.count(); i++) {
        if (_links[i].data() == link) {
            _links.removeAt(i);
            break;
        }
    }
    
    if (_links.count() == 0) {
        emit allLinksDisconnected(this);
    }
}

void Vehicle::sendMessage(mavlink_message_t message)
{
    emit _sendMessageOnThread(message);
}

void Vehicle::_sendMessage(mavlink_message_t message)
{
    // Emit message on all links that are currently connected
    foreach (SharedLinkInterface sharedLink, _links) {
        LinkInterface* link = sharedLink.data();
        Q_ASSERT(link);
        
        if (link->isConnected()) {
            MAVLinkProtocol* mavlink = _mavlink;
            
            // Give the plugin a chance to adjust
            _firmwarePlugin->adjustMavlinkMessage(&message);
            
            static const uint8_t messageKeys[256] = MAVLINK_MESSAGE_CRCS;
            mavlink_finalize_message_chan(&message, mavlink->getSystemId(), mavlink->getComponentId(), link->getMavlinkChannel(), message.len, messageKeys[message.msgid]);
            
            // Write message into buffer, prepending start sign
            uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
            int len = mavlink_msg_to_send_buffer(buffer, &message);
            
            link->writeBytes((const char*)buffer, len);
        }
    }
}

QList<LinkInterface*> Vehicle::links(void)
{
    QList<LinkInterface*> list;
    
    foreach (SharedLinkInterface sharedLink, _links) {
        list += sharedLink.data();
    }
    
    return list;
}

void Vehicle::setLatitude(double latitude)
{
    _coordinate.setLatitude(latitude);
    emit coordinateChanged(_coordinate);
}

void Vehicle::setLongitude(double longitude){
    _coordinate.setLongitude(longitude);
    emit coordinateChanged(_coordinate);
}

void Vehicle::_updateAttitude(UASInterface*, double roll, double pitch, double yaw, quint64)
{
    if (isinf(roll)) {
        _roll = std::numeric_limits<double>::quiet_NaN();
    } else {
        float rolldeg = _oneDecimal(roll * (180.0 / M_PI));
        if (fabs(roll - rolldeg) > 0.25) {
            _roll = rolldeg;
            if(_refreshTimer->isActive()) {
                emit rollChanged();
            }
        }
        if(_roll != rolldeg) {
            _roll = rolldeg;
            _addChange(ROLL_CHANGED);
        }
    }
    if (isinf(pitch)) {
        _pitch = std::numeric_limits<double>::quiet_NaN();
    } else {
        float pitchdeg = _oneDecimal(pitch * (180.0 / M_PI));
        if (fabs(pitch - pitchdeg) > 0.25) {
            _pitch = pitchdeg;
            if(_refreshTimer->isActive()) {
                emit pitchChanged();
            }
        }
        if(_pitch != pitchdeg) {
            _pitch = pitchdeg;
            _addChange(PITCH_CHANGED);
        }
    }
    if (isinf(yaw)) {
        _heading = std::numeric_limits<double>::quiet_NaN();
    } else {
        yaw = _oneDecimal(yaw * (180.0 / M_PI));
        if (yaw < 0) yaw += 360;
        if (fabs(_heading - yaw) > 0.25) {
            _heading = yaw;
            if(_refreshTimer->isActive()) {
                emit headingChanged();
            }
        }
        if(_heading != yaw) {
            _heading = yaw;
            _addChange(HEADING_CHANGED);
        }
    }
}

void Vehicle::_updateAttitude(UASInterface* uas, int, double roll, double pitch, double yaw, quint64 timestamp)
{
    _updateAttitude(uas, roll, pitch, yaw, timestamp);
}

void Vehicle::_updateSpeed(UASInterface*, double groundSpeed, double airSpeed, quint64)
{
    groundSpeed = _oneDecimal(groundSpeed);
    if (fabs(_groundSpeed - groundSpeed) > 0.5) {
        _groundSpeed = groundSpeed;
        if(_refreshTimer->isActive()) {
            emit groundSpeedChanged();
        }
    }
    airSpeed = _oneDecimal(airSpeed);
    if (fabs(_airSpeed - airSpeed) > 0.5) {
        _airSpeed = airSpeed;
        if(_refreshTimer->isActive()) {
            emit airSpeedChanged();
        }
    }
    if(_groundSpeed != groundSpeed) {
        _groundSpeed = groundSpeed;
        _addChange(GROUNDSPEED_CHANGED);
    }
    if(_airSpeed != airSpeed) {
        _airSpeed = airSpeed;
        _addChange(AIRSPEED_CHANGED);
    }
}

void Vehicle::_updateAltitude(UASInterface*, double altitudeAMSL, double altitudeWGS84, double altitudeRelative, double climbRate, quint64) {
    altitudeAMSL = _oneDecimal(altitudeAMSL);
    if (fabs(_altitudeAMSL - altitudeAMSL) > 0.5) {
        _altitudeAMSL = altitudeAMSL;
        if(_refreshTimer->isActive()) {
            emit altitudeAMSLChanged();
        }
    }
    altitudeWGS84 = _oneDecimal(altitudeWGS84);
    if (fabs(_altitudeWGS84 - altitudeWGS84) > 0.5) {
        _altitudeWGS84 = altitudeWGS84;
        if(_refreshTimer->isActive()) {
            emit altitudeWGS84Changed();
        }
    }
    altitudeRelative = _oneDecimal(altitudeRelative);
    if (fabs(_altitudeRelative - altitudeRelative) > 0.5) {
        _altitudeRelative = altitudeRelative;
        if(_refreshTimer->isActive()) {
            emit altitudeRelativeChanged();
        }
    }
    climbRate = _oneDecimal(climbRate);
    if (fabs(_climbRate - climbRate) > 0.5) {
        _climbRate = climbRate;
        if(_refreshTimer->isActive()) {
            emit climbRateChanged();
        }
    }
    if(_altitudeAMSL != altitudeAMSL) {
        _altitudeAMSL = altitudeAMSL;
        _addChange(ALTITUDEAMSL_CHANGED);
    }
    if(_altitudeWGS84 != altitudeWGS84) {
        _altitudeWGS84 = altitudeWGS84;
        _addChange(ALTITUDEWGS84_CHANGED);
    }
    if(_altitudeRelative != altitudeRelative) {
        _altitudeRelative = altitudeRelative;
        _addChange(ALTITUDERELATIVE_CHANGED);
    }
    if(_climbRate != climbRate) {
        _climbRate = climbRate;
        _addChange(CLIMBRATE_CHANGED);
    }
}

void Vehicle::_updateNavigationControllerErrors(UASInterface*, double altitudeError, double speedError, double xtrackError) {
    _navigationAltitudeError   = altitudeError;
    _navigationSpeedError      = speedError;
    _navigationCrosstrackError = xtrackError;
}

void Vehicle::_updateNavigationControllerData(UASInterface *uas, float, float, float, float targetBearing, float) {
    if (_mav == uas) {
        _navigationTargetBearing = targetBearing;
    }
}

/*
 * Internal
 */

bool Vehicle::_isAirplane() {
    if (_mav)
        return _mav->isAirplane();
    return false;
}

void Vehicle::_addChange(int id)
{
    if(!_changes.contains(id)) {
        _changes.append(id);
    }
}

float Vehicle::_oneDecimal(float value)
{
    int i = (value * 10);
    return (float)i / 10.0;
}

void Vehicle::_checkUpdate()
{
    // Update current location
    if(_mav) {
        if(latitude() != _mav->getLatitude()) {
            setLatitude(_mav->getLatitude());
        }
        if(longitude() != _mav->getLongitude()) {
            setLongitude(_mav->getLongitude());
        }
    }
    // The timer rate is 20Hz for the coordinates above. These below we only check
    // twice a second.
    if(++_updateCount > 9) {
        _updateCount = 0;
        // Check for changes
        // Significant changes, that is, whole number changes, are updated immediatelly.
        // For every message however, we set a flag for what changed and this timer updates
        // them to bring everything up-to-date. This prevents an avalanche of UI updates.
        foreach(int i, _changes) {
            switch (i) {
                case ROLL_CHANGED:
                    emit rollChanged();
                    break;
                case PITCH_CHANGED:
                    emit pitchChanged();
                    break;
                case HEADING_CHANGED:
                    emit headingChanged();
                    break;
                case GROUNDSPEED_CHANGED:
                    emit groundSpeedChanged();
                    break;
                case AIRSPEED_CHANGED:
                    emit airSpeedChanged();
                    break;
                case CLIMBRATE_CHANGED:
                    emit climbRateChanged();
                    break;
                case ALTITUDERELATIVE_CHANGED:
                    emit altitudeRelativeChanged();
                    break;
                case ALTITUDEWGS84_CHANGED:
                    emit altitudeWGS84Changed();
                    break;
                case ALTITUDEAMSL_CHANGED:
                    emit altitudeAMSLChanged();
                    break;
                default:
                    break;
            }
        }
        _changes.clear();
    }
}

QString Vehicle::getMavIconColor()
{
    // TODO: Not using because not only the colors are ghastly, it doesn't respect dark/light palette
    if(_mav)
        return _mav->getColor().name();
    else
        return QString("black");
}

void Vehicle::_updateBatteryRemaining(UASInterface*, double voltage, double, double percent, int)
{
    
    if(percent < 0.0) {
        percent = 0.0;
    }
    if(voltage < 0.0) {
        voltage = 0.0;
    }
    if (_batteryVoltage != voltage) {
        _batteryVoltage = voltage;
        emit batteryVoltageChanged();
    }
    if (_batteryPercent != percent) {
        _batteryPercent = percent;
        emit batteryPercentChanged();
    }
}

void Vehicle::_updateBatteryConsumedChanged(UASInterface*, double current_consumed)
{
    if(_batteryConsumed != current_consumed) {
        _batteryConsumed = current_consumed;
        emit batteryConsumedChanged();
    }
}


void Vehicle::_updateState(UASInterface*, QString name, QString)
{
    if (_currentState != name) {
        _currentState = name;
        emit currentStateChanged();
    }
}

void Vehicle::_updateName(const QString& name)
{
    if (_systemName != name) {
        _systemName = name;
        emit systemNameChanged();
    }
}

/**
 * The current system type is represented through the system icon.
 *
 * @param uas Source system, has to be the same as this->uas
 * @param systemType type ID, following the MAVLink system type conventions
 * @see http://pixhawk.ethz.ch/software/mavlink
 */
void Vehicle::_setSystemType(UASInterface*, unsigned int systemType)
{
    _systemPixmap = "qrc:/res/mavs/";
    switch (systemType) {
        case MAV_TYPE_GENERIC:
            _systemPixmap += "Generic";
            break;
        case MAV_TYPE_FIXED_WING:
            _systemPixmap += "FixedWing";
            break;
        case MAV_TYPE_QUADROTOR:
            _systemPixmap += "QuadRotor";
            break;
        case MAV_TYPE_COAXIAL:
            _systemPixmap += "Coaxial";
            break;
        case MAV_TYPE_HELICOPTER:
            _systemPixmap += "Helicopter";
            break;
        case MAV_TYPE_ANTENNA_TRACKER:
            _systemPixmap += "AntennaTracker";
            break;
        case MAV_TYPE_GCS:
            _systemPixmap += "Groundstation";
            break;
        case MAV_TYPE_AIRSHIP:
            _systemPixmap += "Airship";
            break;
        case MAV_TYPE_FREE_BALLOON:
            _systemPixmap += "FreeBalloon";
            break;
        case MAV_TYPE_ROCKET:
            _systemPixmap += "Rocket";
            break;
        case MAV_TYPE_GROUND_ROVER:
            _systemPixmap += "GroundRover";
            break;
        case MAV_TYPE_SURFACE_BOAT:
            _systemPixmap += "SurfaceBoat";
            break;
        case MAV_TYPE_SUBMARINE:
            _systemPixmap += "Submarine";
            break;
        case MAV_TYPE_HEXAROTOR:
            _systemPixmap += "HexaRotor";
            break;
        case MAV_TYPE_OCTOROTOR:
            _systemPixmap += "OctoRotor";
            break;
        case MAV_TYPE_TRICOPTER:
            _systemPixmap += "TriCopter";
            break;
        case MAV_TYPE_FLAPPING_WING:
            _systemPixmap += "FlappingWing";
            break;
        case MAV_TYPE_KITE:
            _systemPixmap += "Kite";
            break;
        default:
            _systemPixmap += "Unknown";
            break;
    }
    emit systemPixmapChanged();
}

void Vehicle::_heartbeatTimeout(bool timeout, unsigned int ms)
{
    unsigned int elapsed = ms;
    if (!timeout)
    {
        elapsed = 0;
    }
    if(elapsed != _currentHeartbeatTimeout) {
        _currentHeartbeatTimeout = elapsed;
        emit heartbeatTimeoutChanged();
    }
}

void Vehicle::_setSatelliteCount(double val, QString)
{
    // I'm assuming that a negative value or over 99 means there is no GPS
    if(val < 0.0)  val = -1.0;
    if(val > 99.0) val = -1.0;
    if(_satelliteCount != (int)val) {
        _satelliteCount = (int)val;
        emit satelliteCountChanged();
    }
}

void Vehicle::_setSatLoc(UASInterface*, int fix)
{
    // fix 0: lost, 1: at least one satellite, but no GPS fix, 2: 2D lock, 3: 3D lock
    if(_satelliteLock != fix) {
        if (fix > 2) {
            _coordinateValid = true;
            emit coordinateValidChanged(true);
        }
        _satelliteLock = fix;
        emit satelliteLockChanged();
    }
}

void Vehicle::_updateWaypointDistance(double distance)
{
    if (_waypointDistance != distance) {
        _waypointDistance = distance;
        emit waypointDistanceChanged();
    }
}

void Vehicle::_updateCurrentWaypoint(quint16 id)
{
    if (_currentWaypoint != id) {
        _currentWaypoint = id;
        emit currentWaypointChanged();
    }
}

void Vehicle::_updateWaypointViewOnly(int, MissionItem* /*wp*/)
{
    /*
     bool changed = false;
     for(int i = 0; i < _waypoints.count(); i++) {
     if(_waypoints[i].sequenceNumber() == wp->sequenceNumber()) {
     _waypoints[i] = *wp;
     changed = true;
     break;
     }
     }
     if(changed) {
     emit waypointListChanged();
     }
     */
}

void Vehicle::_handleTextMessage(int newCount)
{
    // Reset?
    if(!newCount) {
        _currentMessageCount = 0;
        _currentNormalCount  = 0;
        _currentWarningCount = 0;
        _currentErrorCount   = 0;
        _messageCount        = 0;
        _currentMessageType  = MessageNone;
        emit newMessageCountChanged();
        emit messageTypeChanged();
        emit messageCountChanged();
        return;
    }
    
    UASMessageHandler* pMh = UASMessageHandler::instance();
    Q_ASSERT(pMh);
    MessageType_t type = newCount ? _currentMessageType : MessageNone;
    int errorCount     = _currentErrorCount;
    int warnCount      = _currentWarningCount;
    int normalCount    = _currentNormalCount;
    //-- Add current message counts
    errorCount  += pMh->getErrorCount();
    warnCount   += pMh->getWarningCount();
    normalCount += pMh->getNormalCount();
    //-- See if we have a higher level
    if(errorCount != _currentErrorCount) {
        _currentErrorCount = errorCount;
        type = MessageError;
    }
    if(warnCount != _currentWarningCount) {
        _currentWarningCount = warnCount;
        if(_currentMessageType != MessageError) {
            type = MessageWarning;
        }
    }
    if(normalCount != _currentNormalCount) {
        _currentNormalCount = normalCount;
        if(_currentMessageType != MessageError && _currentMessageType != MessageWarning) {
            type = MessageNormal;
        }
    }
    int count = _currentErrorCount + _currentWarningCount + _currentNormalCount;
    if(count != _currentMessageCount) {
        _currentMessageCount = count;
        // Display current total new messages count
        emit newMessageCountChanged();
    }
    if(type != _currentMessageType) {
        _currentMessageType = type;
        // Update message level
        emit messageTypeChanged();
    }
    // Update message count (all messages)
    if(newCount != _messageCount) {
        _messageCount = newCount;
        emit messageCountChanged();
    }
    QString errMsg = pMh->getLatestError();
    if(errMsg != _latestError) {
        _latestError = errMsg;
        emit latestErrorChanged();
    }
}

void Vehicle::resetMessages()
{
    // Reset Counts
    int count = _currentMessageCount;
    MessageType_t type = _currentMessageType;
    _currentErrorCount   = 0;
    _currentWarningCount = 0;
    _currentNormalCount  = 0;
    _currentMessageCount = 0;
    _currentMessageType = MessageNone;
    if(count != _currentMessageCount) {
        emit newMessageCountChanged();
    }
    if(type != _currentMessageType) {
        emit messageTypeChanged();
    }
}

int Vehicle::manualControlReservedButtonCount(void)
{
    return _firmwarePlugin->manualControlReservedButtonCount();
}

void Vehicle::_loadSettings(void)
{
    QSettings settings;
    
    settings.beginGroup(QString(_settingsGroup).arg(_id));
    
    bool convertOk;
    
    _joystickMode = (JoystickMode_t)settings.value(_joystickModeSettingsKey, JoystickModeRC).toInt(&convertOk);
    if (!convertOk) {
        _joystickMode = JoystickModeRC;
    }
    
    _joystickEnabled = settings.value(_joystickEnabledSettingsKey, false).toBool();
    _communicationInactivityTimeoutMSecs = settings.value(_communicationInactivityKey, _communicationInactivityTimeoutMSecsDefault).toInt();
}

void Vehicle::_saveSettings(void)
{
    QSettings settings;
    
    settings.beginGroup(QString(_settingsGroup).arg(_id));
    
    settings.setValue(_joystickModeSettingsKey, _joystickMode);
    settings.setValue(_joystickEnabledSettingsKey, _joystickEnabled);
    settings.setValue(_communicationInactivityKey, _communicationInactivityTimeoutMSecs);
}

int Vehicle::joystickMode(void)
{
    return _joystickMode;
}

void Vehicle::setJoystickMode(int mode)
{
    if (mode < 0 || mode >= JoystickModeMax) {
        qCWarning(VehicleLog) << "Invalid joystick mode" << mode;
        return;
    }
    
    _joystickMode = (JoystickMode_t)mode;
    _saveSettings();
    emit joystickModeChanged(mode);
}

QStringList Vehicle::joystickModes(void)
{
    QStringList list;
    
    list << "Normal" << "Attitude" << "Position" << "Force" << "Velocity";
    
    return list;
}

bool Vehicle::joystickEnabled(void)
{
    return _joystickEnabled;
}

void Vehicle::setJoystickEnabled(bool enabled)
{
    Fact* fact = _autopilotPlugin->getParameterFact(FactSystem::defaultComponentId, "COM_RC_IN_MODE");
    if (!fact) {
        qCWarning(JoystickLog) << "Missing COM_RC_IN_MODE parameter";
    }
    
    if (fact->value().toInt() != 2) {
        fact->setValue(enabled ? 1 : 0);
    }
    
    _joystickEnabled = enabled;
    _startJoystick(_joystickEnabled);
    _saveSettings();
}

void Vehicle::_startJoystick(bool start)
{
#ifndef __mobile__
    Joystick* joystick = JoystickManager::instance()->activeJoystick();
    if (joystick) {
        if (start) {
            if (_joystickEnabled) {
                joystick->startPolling(this);
            }
        } else {
            joystick->stopPolling();
        }
    }
#else
    Q_UNUSED(start);
#endif
}

bool Vehicle::active(void)
{
    return _active;
}

void Vehicle::setActive(bool active)
{
    _active = active;
    
    _startJoystick(_active);
}

QmlObjectListModel* Vehicle::missionItemsModel(void)
{
    return missionManager()->missionItems();
}

bool Vehicle::homePositionAvailable(void)
{
    return _homePositionAvailable;
}

QGeoCoordinate Vehicle::homePosition(void)
{
    return _homePosition;
}

void Vehicle::setArmed(bool armed)
{
    // We specifically use COMMAND_LONG:MAV_CMD_COMPONENT_ARM_DISARM since it is supported by more flight stacks.
    
    mavlink_message_t msg;
    mavlink_command_long_t cmd;
    
    cmd.command = (uint16_t)MAV_CMD_COMPONENT_ARM_DISARM;
    cmd.confirmation = 0;
    cmd.param1 = armed ? 1.0f : 0.0f;
    cmd.param2 = 0.0f;
    cmd.param3 = 0.0f;
    cmd.param4 = 0.0f;
    cmd.param5 = 0.0f;
    cmd.param6 = 0.0f;
    cmd.param7 = 0.0f;
    cmd.target_system = id();
    cmd.target_component = 0;
    
    mavlink_msg_command_long_encode(_mavlink->getSystemId(), _mavlink->getComponentId(), &msg, &cmd);
    
    sendMessage(msg);
}

bool Vehicle::flightModeSetAvailable(void)
{
    return _firmwarePlugin->isCapable(FirmwarePlugin::SetFlightModeCapability);
}

QStringList Vehicle::flightModes(void)
{
    return _firmwarePlugin->flightModes();
}

QString Vehicle::flightMode(void)
{
    return _firmwarePlugin->flightMode(_base_mode, _custom_mode);
}

void Vehicle::setFlightMode(const QString& flightMode)
{
    uint8_t     base_mode;
    uint32_t    custom_mode;

    if (_firmwarePlugin->setFlightMode(flightMode, &base_mode, &custom_mode)) {
        // setFlightMode will only set MAV_MODE_FLAG_CUSTOM_MODE_ENABLED in base_mode, we need to move back in the existing
        // states.
        uint8_t newBaseMode = _base_mode & ~MAV_MODE_FLAG_DECODE_POSITION_CUSTOM_MODE;
        newBaseMode |= base_mode;

        mavlink_message_t msg;
        mavlink_msg_set_mode_pack(_mavlink->getSystemId(), _mavlink->getComponentId(), &msg, id(), newBaseMode, custom_mode);
        sendMessage(msg);
    } else {
        qCWarning(VehicleLog) << "FirmwarePlugin::setFlightMode failed, flightMode:" << flightMode;
    }
}

bool Vehicle::hilMode(void)
{
    return _base_mode & MAV_MODE_FLAG_HIL_ENABLED;
}

void Vehicle::setHilMode(bool hilMode)
{
    mavlink_message_t msg;

    uint8_t newBaseMode = _base_mode & ~MAV_MODE_FLAG_DECODE_POSITION_HIL;
    if (hilMode) {
        newBaseMode |= MAV_MODE_FLAG_HIL_ENABLED;
    }

    mavlink_msg_set_mode_pack(_mavlink->getSystemId(), _mavlink->getComponentId(), &msg, id(), newBaseMode, _custom_mode);
    sendMessage(msg);
}

bool Vehicle::missingParameters(void)
{
    return _autopilotPlugin->missingParameters();
}

void Vehicle::requestDataStream(MAV_DATA_STREAM stream, uint16_t rate)
{
    mavlink_message_t               msg;
    mavlink_request_data_stream_t   dataStream;
    
    dataStream.req_stream_id = stream;
    dataStream.req_message_rate = rate;
    dataStream.start_stop = 1;  // start
    dataStream.target_system = id();
    dataStream.target_component = 0;
    
    mavlink_msg_request_data_stream_encode(_mavlink->getSystemId(), _mavlink->getComponentId(), &msg, &dataStream);

    // We use sendMessageMultiple since we really want these to make it to the vehicle
    sendMessageMultiple(msg);
}

void Vehicle::_sendMessageMultipleNext(void)
{
    if (_nextSendMessageMultipleIndex < _sendMessageMultipleList.count()) {
        qCDebug(VehicleLog) << "_sendMessageMultipleNext:" << _sendMessageMultipleList[_nextSendMessageMultipleIndex].message.msgid;
        
        sendMessage(_sendMessageMultipleList[_nextSendMessageMultipleIndex].message);
        
        if (--_sendMessageMultipleList[_nextSendMessageMultipleIndex].retryCount <= 0) {
            _sendMessageMultipleList.removeAt(_nextSendMessageMultipleIndex);
        } else {
            _nextSendMessageMultipleIndex++;
        }
    }
    
    if (_nextSendMessageMultipleIndex >= _sendMessageMultipleList.count()) {
        _nextSendMessageMultipleIndex = 0;
    }
}

void Vehicle::sendMessageMultiple(mavlink_message_t message)
{
    SendMessageMultipleInfo_t   info;
    
    info.message =      message;
    info.retryCount =   _sendMessageMultipleRetries;
    
    _sendMessageMultipleList.append(info);
}

void Vehicle::_missionManagerError(int errorCode, const QString& errorMsg)
{
    Q_UNUSED(errorCode);
    qgcApp()->showToolBarMessage(QString("Error during Mission communication with Vehicle: %1").arg(errorMsg));
}

void Vehicle::_addNewMapTrajectoryPoint(void)
{
    if (_mapTrajectoryHaveFirstCoordinate) {
        _mapTrajectoryList.append(new CoordinateVector(_mapTrajectoryLastCoordinate, _coordinate, this));
    }
    _mapTrajectoryHaveFirstCoordinate = true;
    _mapTrajectoryLastCoordinate = _coordinate;
}

void Vehicle::_mapTrajectoryStart(void)
{
    _mapTrajectoryHaveFirstCoordinate = false;
    _mapTrajectoryList.clear();
    _mapTrajectoryTimer.start();
}

void Vehicle::_mapTrajectoryStop()
{
    _mapTrajectoryTimer.stop();
}

void Vehicle::_parametersReady(bool parametersReady)
{
    if (parametersReady && !_missionManagerInitialRequestComplete) {
        _missionManagerInitialRequestComplete = true;
        _missionManager->requestMissionItems();
    }
}

void Vehicle::_communicationInactivityTimedOut(void)
{
    // Vechile is no longer communicating with us, disconnect all links

    LinkManager* linkMgr = LinkManager::instance();
    for (int i=0; i<_links.count(); i++) {
        linkMgr->disconnectLink(_links[i].data());
    }
}

ParameterLoader* Vehicle::getParameterLoader(void)
{
    return _parameterLoader;
}