UAS.cc

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

/**
 * @file
 *   @brief Represents one unmanned aerial vehicle
 *
 *   @author Lorenz Meier <mavteam@student.ethz.ch>
 *
 */

#include <QList>
#include <QMessageBox>
#include <QTimer>
#include <QSettings>
#include <iostream>
#include <QDebug>
#include <cmath>
#include <qmath.h>
#include "UAS.h"
#include "LinkInterface.h"
#include "UASManager.h"
#include "QGC.h"
#include "GAudioOutput.h"
#include "MAVLinkProtocol.h"
#include "QGCMAVLink.h"
#include "LinkManager.h"
#include "SerialLink.h"

UAS::UAS(MAVLinkProtocol* protocol, int id) : UASInterface(),
    uasId(id),
    startTime(QGC::groundTimeMilliseconds()),
    commStatus(COMM_DISCONNECTED),
    name(""),
    autopilot(-1),
    links(new QList<LinkInterface*>()),
    unknownPackets(),
    mavlink(protocol),
    waypointManager(this),
    thrustSum(0),
    thrustMax(10),
    startVoltage(0),
    warnVoltage(9.5f),
    warnLevelPercent(20.0f),
    currentVoltage(12.0f),
    lpVoltage(12.0f),
    batteryRemainingEstimateEnabled(true),
    mode(-1),
    status(-1),
    navMode(-1),
    onboardTimeOffset(0),
    controlRollManual(true),
    controlPitchManual(true),
    controlYawManual(true),
    controlThrustManual(true),
    manualRollAngle(0),
    manualPitchAngle(0),
    manualYawAngle(0),
    manualThrust(0),
    receiveDropRate(0),
    sendDropRate(0),
    lowBattAlarm(false),
    positionLock(false),
    localX(0.0),
    localY(0.0),
    localZ(0.0),
    latitude(0.0),
    longitude(0.0),
    altitude(0.0),
    roll(0.0),
    pitch(0.0),
    yaw(0.0),
    statusTimeout(new QTimer(this)),
    paramsOnceRequested(false),
    airframe(QGC_AIRFRAME_EASYSTAR),
    attitudeKnown(false),
    paramManager(NULL),
    attitudeStamped(false),
    lastAttitude(0),
    simulation(new QGCFlightGearLink(this)),
    isLocalPositionKnown(false),
    isGlobalPositionKnown(false),
    systemIsArmed(false)
{
    for (unsigned int i = 0; i<255;++i)
    {
        componentID[i] = -1;
        componentMulti[i] = false;
    }

    color = UASInterface::getNextColor();
    setBatterySpecs(QString("9V,9.5V,12.6V"));
    connect(statusTimeout, SIGNAL(timeout()), this, SLOT(updateState()));
    connect(this, SIGNAL(systemSpecsChanged(int)), this, SLOT(writeSettings()));
    statusTimeout->start(500);
    readSettings();

    // Initial signals
    emit disarmed();
    emit armingChanged(false);
}

UAS::~UAS()
{
    writeSettings();
    delete links;
    links=NULL;
}

void UAS::writeSettings()
{
    QSettings settings;
    settings.beginGroup(QString("MAV%1").arg(uasId));
    settings.setValue("NAME", this->name);
    settings.setValue("AIRFRAME", this->airframe);
    settings.setValue("AP_TYPE", this->autopilot);
    settings.setValue("BATTERY_SPECS", getBatterySpecs());
    settings.endGroup();
    settings.sync();
}

void UAS::readSettings()
{
    QSettings settings;
    settings.beginGroup(QString("MAV%1").arg(uasId));
    this->name = settings.value("NAME", this->name).toString();
    this->airframe = settings.value("AIRFRAME", this->airframe).toInt();
    this->autopilot = settings.value("AP_TYPE", this->autopilot).toInt();
    if (settings.contains("BATTERY_SPECS")) {
        setBatterySpecs(settings.value("BATTERY_SPECS").toString());
    }
    settings.endGroup();
}

int UAS::getUASID() const
{
    return uasId;
}

void UAS::updateState()
{
    // Check if heartbeat timed out
    quint64 heartbeatInterval = QGC::groundTimeUsecs() - lastHeartbeat;
    if (heartbeatInterval > timeoutIntervalHeartbeat)
    {
        emit heartbeatTimeout(heartbeatInterval);
        emit heartbeatTimeout();
    }

    // Position lock is set by the MAVLink message handler
    // if no position lock is available, indicate an error
    if (positionLock)
    {
        positionLock = false;
    }
    else
    {
        if (((mode&MAV_MODE_FLAG_DECODE_POSITION_AUTO) || (mode&MAV_MODE_FLAG_DECODE_POSITION_GUIDED)) && positionLock)
        {
            GAudioOutput::instance()->notifyNegative();
        }
    }
}

void UAS::setSelected()
{
    if (UASManager::instance()->getActiveUAS() != this) {
        UASManager::instance()->setActiveUAS(this);
        emit systemSelected(true);
    }
}

bool UAS::getSelected() const
{
    return (UASManager::instance()->getActiveUAS() == this);
}

void UAS::receiveMessageNamedValue(const mavlink_message_t& message)
{
    if (message.msgid == MAVLINK_MSG_ID_NAMED_VALUE_FLOAT)
    {
        mavlink_named_value_float_t val;
        mavlink_msg_named_value_float_decode(&message, &val);
        QByteArray bytes(val.name, MAVLINK_MSG_NAMED_VALUE_FLOAT_FIELD_NAME_LEN);
        emit valueChanged(this->getUASID(), QString(bytes), tr("raw"), val.value, getUnixTime());
    }
    else if (message.msgid == MAVLINK_MSG_ID_NAMED_VALUE_INT)
    {
        mavlink_named_value_int_t val;
        mavlink_msg_named_value_int_decode(&message, &val);
        QByteArray bytes(val.name, MAVLINK_MSG_NAMED_VALUE_INT_FIELD_NAME_LEN);
        emit valueChanged(this->getUASID(), QString(bytes), tr("raw"), val.value, getUnixTime());
    }
}

void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
{
    if (!link) return;
    if (!links->contains(link))
    {
        addLink(link);
        //        qDebug() << __FILE__ << __LINE__ << "ADDED LINK!" << link->getName();
    }
    //    else
    //    {
    //        qDebug() << __FILE__ << __LINE__ << "DID NOT ADD LINK" << link->getName() << "ALREADY IN LIST";
    //    }

    //    qDebug() << "UAS RECEIVED from" << message.sysid << "component" << message.compid << "msg id" << message.msgid << "seq no" << message.seq;

    // Only accept messages from this system (condition 1)
    // and only then if a) attitudeStamped is disabled OR b) attitudeStamped is enabled
    // and we already got one attitude packet
    if (message.sysid == uasId && (!attitudeStamped || (attitudeStamped && (lastAttitude != 0)) || message.msgid == MAVLINK_MSG_ID_ATTITUDE))
    {
        QString uasState;
        QString stateDescription;

        bool multiComponentSourceDetected = false;
        bool wrongComponent = false;

        // Store component ID
        if (componentID[message.msgid] == -1)
        {
            componentID[message.msgid] = message.compid;
        }
        else
        {
            // Got this message already
            if (componentID[message.msgid] != message.compid)
            {
                componentMulti[message.msgid] = true;
                wrongComponent = true;
            }
        }

        if (componentMulti[message.msgid] == true) multiComponentSourceDetected = true;


        switch (message.msgid)
        {
        case MAVLINK_MSG_ID_HEARTBEAT:
        {
            lastHeartbeat = QGC::groundTimeUsecs();
            emit heartbeat(this);
            mavlink_heartbeat_t state;
            mavlink_msg_heartbeat_decode(&message, &state);
            // Set new type if it has changed
            if (this->type != state.type)
            {
                this->type = state.type;
                if (airframe == 0)
                {
                    switch (type)
                    {
                    case MAV_TYPE_FIXED_WING:
                        setAirframe(UASInterface::QGC_AIRFRAME_EASYSTAR);
                        break;
                    case MAV_TYPE_QUADROTOR:
                        setAirframe(UASInterface::QGC_AIRFRAME_CHEETAH);
                        break;
                    case MAV_TYPE_HEXAROTOR:
                        setAirframe(UASInterface::QGC_AIRFRAME_HEXCOPTER);
                        break;
                    default:
                        // Do nothing
                        break;
                    }
                }
                this->autopilot = state.autopilot;
                emit systemTypeSet(this, type);
            }

            bool currentlyArmed = state.base_mode & MAV_MODE_FLAG_DECODE_POSITION_SAFETY;

            if (systemIsArmed != currentlyArmed)
            {
                systemIsArmed = currentlyArmed;
                emit armingChanged(systemIsArmed);
                if (systemIsArmed)
                {
                    emit armed();
                }
                else
                {
                    emit disarmed();
                }
            }

            QString audiostring = "System " + getUASName();
            QString stateAudio = "";
            QString modeAudio = "";
            QString navModeAudio = "";
            bool statechanged = false;
            bool modechanged = false;


            if (state.system_status != this->status)
            {
                statechanged = true;
                this->status = state.system_status;
                getStatusForCode((int)state.system_status, uasState, stateDescription);
                emit statusChanged(this, uasState, stateDescription);
                emit statusChanged(this->status);

                shortStateText = uasState;

                stateAudio = tr(" changed status to ") + uasState;
            }

            if (this->mode != static_cast<int>(state.base_mode))
            {
                modechanged = true;
                this->mode = static_cast<int>(state.base_mode);
                shortModeText = getShortModeTextFor(this->mode);

                emit modeChanged(this->getUASID(), shortModeText, "");

                modeAudio = " is now in " + shortModeText;
            }

            if (navMode != state.custom_mode)
            {
                emit navModeChanged(uasId, state.custom_mode, getNavModeText(state.custom_mode));
                navMode = state.custom_mode;
                navModeAudio = tr(" changed nav mode to ") + tr("FIXME");
            }

            // AUDIO
            if (modechanged && statechanged)
            {
                // Output both messages
                audiostring += modeAudio + " and " + stateAudio;
            }
            else if (modechanged || statechanged)
            {
                // Output the one message
                audiostring += modeAudio + stateAudio + navModeAudio;
            }

            if ((int)state.system_status == (int)MAV_STATE_CRITICAL || state.system_status == (int)MAV_STATE_EMERGENCY)
            {
                GAudioOutput::instance()->startEmergency();
            }
            else if (modechanged || statechanged)
            {
                GAudioOutput::instance()->stopEmergency();
                GAudioOutput::instance()->say(audiostring.toLower());
            }

//            if (state.system_status == MAV_STATE_POWEROFF)
//            {
//                emit systemRemoved(this);
//                emit systemRemoved();
//            }
}

            break;
        case MAVLINK_MSG_ID_NAMED_VALUE_FLOAT:
        case MAVLINK_MSG_ID_NAMED_VALUE_INT:
            // Receive named value message
            receiveMessageNamedValue(message);
            break;
        case MAVLINK_MSG_ID_SYS_STATUS:
        {
                if (multiComponentSourceDetected && message.compid != MAV_COMP_ID_IMU_2)
                {
                    break;
                }
                mavlink_sys_status_t state;
                mavlink_msg_sys_status_decode(&message, &state);

                emit loadChanged(this,state.load/10.0f);

                currentVoltage = state.voltage_battery/1000.0f;
                lpVoltage = filterVoltage(currentVoltage);

                if (startVoltage == 0) startVoltage = currentVoltage;
                timeRemaining = calculateTimeRemaining();
                if (!batteryRemainingEstimateEnabled && chargeLevel != -1)
                {
                    chargeLevel = state.battery_remaining;
                }
                //qDebug() << "Voltage: " << currentVoltage << " Chargelevel: " << getChargeLevel() << " Time remaining " << timeRemaining;
                emit batteryChanged(this, lpVoltage, getChargeLevel(), timeRemaining);
                emit voltageChanged(message.sysid, state.voltage_battery/1000);

                // LOW BATTERY ALARM
                if (lpVoltage < warnVoltage)
                {
                    startLowBattAlarm();
                }
                else
                {
                    stopLowBattAlarm();
                }

                // COMMUNICATIONS DROP RATE
                // FIXME
                emit dropRateChanged(this->getUASID(), state.drop_rate_comm/10000.0f);
            }
            break;
        case MAVLINK_MSG_ID_ATTITUDE:
            {
                if (wrongComponent) break;

                mavlink_attitude_t attitude;
                mavlink_msg_attitude_decode(&message, &attitude);
                quint64 time = getUnixReferenceTime(attitude.time_boot_ms);
                lastAttitude = time;
                roll = QGC::limitAngleToPMPIf(attitude.roll);
                pitch = QGC::limitAngleToPMPIf(attitude.pitch);
                yaw = QGC::limitAngleToPMPIf(attitude.yaw);

//                // Emit in angles

//                // Convert yaw angle to compass value
//                // in 0 - 360 deg range
//                float compass = (yaw/M_PI)*180.0+360.0f;
//                if (compass > -10000 && compass < 10000)
//                {
//                    while (compass > 360.0f) {
//                        compass -= 360.0f;
//                    }
//                }
//                else
//                {
//                    // Set to 0, since it is an invalid value
//                    compass = 0.0f;
//                }

                attitudeKnown = true;
                emit attitudeChanged(this, roll, pitch, yaw, time);
                emit attitudeSpeedChanged(uasId, attitude.rollspeed, attitude.pitchspeed, attitude.yawspeed, time);
            }
            break;
        case MAVLINK_MSG_ID_HIL_CONTROLS:
            {
                mavlink_hil_controls_t hil;
                mavlink_msg_hil_controls_decode(&message, &hil);
                emit hilControlsChanged(hil.time_usec, hil.roll_ailerons, hil.pitch_elevator, hil.yaw_rudder, hil.throttle, hil.mode, hil.nav_mode);
            }
            break;
        case MAVLINK_MSG_ID_VFR_HUD:
            {
                mavlink_vfr_hud_t hud;
                mavlink_msg_vfr_hud_decode(&message, &hud);
                quint64 time = getUnixTime();
                // Display updated values
                emit thrustChanged(this, hud.throttle/100.0);

                if (!attitudeKnown)
                {
                    yaw = QGC::limitAngleToPMPId((((double)hud.heading-180.0)/360.0)*M_PI);
                    emit attitudeChanged(this, roll, pitch, yaw, time);
                }

                emit altitudeChanged(uasId, hud.alt);
                emit speedChanged(this, hud.airspeed, 0.0f, hud.climb, time);
            }
            break;
        case MAVLINK_MSG_ID_LOCAL_POSITION_NED:
            //std::cerr << std::endl;
            //std::cerr << "Decoded attitude message:" << " roll: " << std::dec << mavlink_msg_attitude_get_roll(message.payload) << " pitch: " << mavlink_msg_attitude_get_pitch(message.payload) << " yaw: " << mavlink_msg_attitude_get_yaw(message.payload) << std::endl;
            {
                mavlink_local_position_ned_t pos;
                mavlink_msg_local_position_ned_decode(&message, &pos);
                quint64 time = getUnixTime(pos.time_boot_ms);
                localX = pos.x;
                localY = pos.y;
                localZ = pos.z;
                emit localPositionChanged(this, pos.x, pos.y, pos.z, time);
                emit speedChanged(this, pos.vx, pos.vy, pos.vz, time);

                // Set internal state
                if (!positionLock) {
                    // If position was not locked before, notify positive
                    GAudioOutput::instance()->notifyPositive();
                }
                positionLock = true;
                isLocalPositionKnown = true;
            }
            break;
        case MAVLINK_MSG_ID_GLOBAL_POSITION_INT:
            //std::cerr << std::endl;
            //std::cerr << "Decoded attitude message:" << " roll: " << std::dec << mavlink_msg_attitude_get_roll(message.payload) << " pitch: " << mavlink_msg_attitude_get_pitch(message.payload) << " yaw: " << mavlink_msg_attitude_get_yaw(message.payload) << std::endl;
            {
                mavlink_global_position_int_t pos;
                mavlink_msg_global_position_int_decode(&message, &pos);
                quint64 time = getUnixTime();
                latitude = pos.lat/(double)1E7;
                longitude = pos.lon/(double)1E7;
                altitude = pos.alt/1000.0;
                speedX = pos.vx/100.0;
                speedY = pos.vy/100.0;
                speedZ = pos.vz/100.0;
                emit globalPositionChanged(this, latitude, longitude, altitude, time);
                emit speedChanged(this, speedX, speedY, speedZ, time);
                // Set internal state
                if (!positionLock)
                {
                    // If position was not locked before, notify positive
                    GAudioOutput::instance()->notifyPositive();
                }
                positionLock = true;
                isGlobalPositionKnown = true;
                //TODO fix this hack for forwarding of global position for patch antenna tracking
                forwardMessage(message);
            }
            break;
        case MAVLINK_MSG_ID_GPS_RAW_INT:
            {
                mavlink_gps_raw_int_t pos;
                mavlink_msg_gps_raw_int_decode(&message, &pos);

                // SANITY CHECK
                // only accept values in a realistic range
                // quint64 time = getUnixTime(pos.time_usec);
                quint64 time = getUnixTime(pos.time_usec);

                if (pos.fix_type > 2)
                {
                    emit globalPositionChanged(this, pos.lat/(double)1E7, pos.lon/(double)1E7, pos.alt/1000.0, time);
                    latitude = pos.lat/(double)1E7;
                    longitude = pos.lon/(double)1E7;
                    altitude = pos.alt/1000.0;
                    positionLock = true;
                    isGlobalPositionKnown = true;

                    // Check for NaN
                    int alt = pos.alt;
                    if (!isnan(alt) && !isinf(alt))
                    {
                        alt = 0;
                        //emit textMessageReceived(uasId, message.compid, 255, "GCS ERROR: RECEIVED NaN or Inf FOR ALTITUDE");
                    }
                    // FIXME REMOVE LATER emit valueChanged(uasId, "altitude", "m", pos.alt/(double)1E3, time);
                    // Smaller than threshold and not NaN

                    float vel = pos.vel/100.0f;

                    if (vel < 1000000 && !isnan(vel) && !isinf(vel))
                    {
                        // FIXME REMOVE LATER emit valueChanged(uasId, "speed", "m/s", vel, time);
                        //qDebug() << "GOT GPS RAW";
                        // emit speedChanged(this, (double)pos.v, 0.0, 0.0, time);
                    }
                    else
                    {
                        emit textMessageReceived(uasId, message.compid, 255, QString("GCS ERROR: RECEIVED INVALID SPEED OF %1 m/s").arg(vel));
                    }
                }
            }
            break;
        case MAVLINK_MSG_ID_GPS_STATUS:
            {
                mavlink_gps_status_t pos;
                mavlink_msg_gps_status_decode(&message, &pos);
                for(int i = 0; i < (int)pos.satellites_visible; i++)
                {
                    emit gpsSatelliteStatusChanged(uasId, (unsigned char)pos.satellite_prn[i], (unsigned char)pos.satellite_elevation[i], (unsigned char)pos.satellite_azimuth[i], (unsigned char)pos.satellite_snr[i], static_cast<bool>(pos.satellite_used[i]));
                }
            }
            break;
        case MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN:
            {
                mavlink_gps_global_origin_t pos;
                mavlink_msg_gps_global_origin_decode(&message, &pos);
                emit homePositionChanged(uasId, pos.latitude, pos.longitude, pos.altitude);
            }
            break;
        case MAVLINK_MSG_ID_RC_CHANNELS_RAW:
            {
                mavlink_rc_channels_raw_t channels;
                mavlink_msg_rc_channels_raw_decode(&message, &channels);
                emit remoteControlRSSIChanged(channels.rssi/255.0f);
                emit remoteControlChannelRawChanged(0, channels.chan1_raw);
                emit remoteControlChannelRawChanged(1, channels.chan2_raw);
                emit remoteControlChannelRawChanged(2, channels.chan3_raw);
                emit remoteControlChannelRawChanged(3, channels.chan4_raw);
                emit remoteControlChannelRawChanged(4, channels.chan5_raw);
                emit remoteControlChannelRawChanged(5, channels.chan6_raw);
                emit remoteControlChannelRawChanged(6, channels.chan7_raw);
                emit remoteControlChannelRawChanged(7, channels.chan8_raw);
            }
            break;
        case MAVLINK_MSG_ID_RC_CHANNELS_SCALED:
            {
                mavlink_rc_channels_scaled_t channels;
                mavlink_msg_rc_channels_scaled_decode(&message, &channels);
                emit remoteControlRSSIChanged(channels.rssi/255.0f);
                emit remoteControlChannelScaledChanged(0, channels.chan1_scaled/10000.0f);
                emit remoteControlChannelScaledChanged(1, channels.chan2_scaled/10000.0f);
                emit remoteControlChannelScaledChanged(2, channels.chan3_scaled/10000.0f);
                emit remoteControlChannelScaledChanged(3, channels.chan4_scaled/10000.0f);
                emit remoteControlChannelScaledChanged(4, channels.chan5_scaled/10000.0f);
                emit remoteControlChannelScaledChanged(5, channels.chan6_scaled/10000.0f);
                emit remoteControlChannelScaledChanged(6, channels.chan7_scaled/10000.0f);
                emit remoteControlChannelScaledChanged(7, channels.chan8_scaled/10000.0f);
            }
            break;
        case MAVLINK_MSG_ID_PARAM_VALUE:
            {
                mavlink_param_value_t value;
                mavlink_msg_param_value_decode(&message, &value);
                QByteArray bytes(value.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
                QString parameterName = QString(bytes);
                int component = message.compid;
                mavlink_param_union_t val;
                val.param_float = value.param_value;
                val.type = value.param_type;

                // Insert component if necessary
                if (!parameters.contains(component))
                {
                    parameters.insert(component, new QMap<QString, QVariant>());
                }

                // Insert parameter into registry
                if (parameters.value(component)->contains(parameterName)) parameters.value(component)->remove(parameterName);

                // Insert with correct type
                switch (value.param_type)
                {
                case MAVLINK_TYPE_FLOAT:
                    {
                    // Variant
                    QVariant param(val.param_float);
                    parameters.value(component)->insert(parameterName, param);
                    // Emit change
                    emit parameterChanged(uasId, message.compid, parameterName, param);
                    emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, param);
                    qDebug() << "RECEIVED PARAM:" << param;
                }
                    break;
                case MAVLINK_TYPE_UINT32_T:
                    {
                    // Variant
                    QVariant param(val.param_uint32);
                    parameters.value(component)->insert(parameterName, param);
                    // Emit change
                    emit parameterChanged(uasId, message.compid, parameterName, param);
                    emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, param);
                    qDebug() << "RECEIVED PARAM:" << param;
                }
                    break;
                case MAVLINK_TYPE_INT32_T:
                    {
                    // Variant
                    QVariant param(val.param_int32);
                    parameters.value(component)->insert(parameterName, param);
                    // Emit change
                    emit parameterChanged(uasId, message.compid, parameterName, param);
                    emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, param);
                    qDebug() << "RECEIVED PARAM:" << param;
                }
                    break;
                default:
                    qCritical() << "INVALID DATA TYPE USED AS PARAMETER VALUE: " << value.param_type;
                }
            }
            break;
        case MAVLINK_MSG_ID_COMMAND_ACK:
            mavlink_command_ack_t ack;
            mavlink_msg_command_ack_decode(&message, &ack);
            if (ack.result == 1)
            {
                emit textMessageReceived(uasId, message.compid, 0, tr("SUCCESS: Executed CMD: %1").arg(ack.command));
            }
            else
            {
                emit textMessageReceived(uasId, message.compid, 0, tr("FAILURE: Rejected CMD: %1").arg(ack.command));
            }
            break;
        case MAVLINK_MSG_ID_ROLL_PITCH_YAW_THRUST_SETPOINT:
            {
                mavlink_roll_pitch_yaw_thrust_setpoint_t out;
                mavlink_msg_roll_pitch_yaw_thrust_setpoint_decode(&message, &out);
                quint64 time = getUnixTimeFromMs(out.time_boot_ms);
                emit attitudeThrustSetPointChanged(this, out.roll, out.pitch, out.yaw, out.thrust, time);
            }
            break;
        case MAVLINK_MSG_ID_MISSION_COUNT:
            {
                mavlink_mission_count_t wpc;
                mavlink_msg_mission_count_decode(&message, &wpc);
                if (wpc.target_system == mavlink->getSystemId())
                {
                    waypointManager.handleWaypointCount(message.sysid, message.compid, wpc.count);
                }
                else
                {
                    qDebug() << "Got waypoint message, but was not for me";
                }
            }
            break;

        case MAVLINK_MSG_ID_MISSION_ITEM:
            {
                mavlink_mission_item_t wp;
                mavlink_msg_mission_item_decode(&message, &wp);
                //qDebug() << "got waypoint (" << wp.seq << ") from ID " << message.sysid << " x=" << wp.x << " y=" << wp.y << " z=" << wp.z;
                if(wp.target_system == mavlink->getSystemId())
                {
                    waypointManager.handleWaypoint(message.sysid, message.compid, &wp);
                }
                else
                {
                    qDebug() << "Got waypoint message, but was not for me";
                }
            }
            break;

        case MAVLINK_MSG_ID_MISSION_ACK:
            {
                mavlink_mission_ack_t wpa;
                mavlink_msg_mission_ack_decode(&message, &wpa);
                if(wpa.target_system == mavlink->getSystemId() && wpa.target_component == mavlink->getComponentId())
                {
                    waypointManager.handleWaypointAck(message.sysid, message.compid, &wpa);
                }
            }
            break;

        case MAVLINK_MSG_ID_MISSION_REQUEST:
            {
                mavlink_mission_request_t wpr;
                mavlink_msg_mission_request_decode(&message, &wpr);
                if(wpr.target_system == mavlink->getSystemId())
                {
                    waypointManager.handleWaypointRequest(message.sysid, message.compid, &wpr);
                }
                else
                {
                    qDebug() << "Got waypoint message, but was not for me";
                }
            }
            break;

        case MAVLINK_MSG_ID_MISSION_ITEM_REACHED:
            {
                mavlink_mission_item_reached_t wpr;
                mavlink_msg_mission_item_reached_decode(&message, &wpr);
                waypointManager.handleWaypointReached(message.sysid, message.compid, &wpr);
                QString text = QString("System %1 reached waypoint %2").arg(getUASName()).arg(wpr.seq);
                GAudioOutput::instance()->say(text);
                emit textMessageReceived(message.sysid, message.compid, 0, text);
            }
            break;

        case MAVLINK_MSG_ID_MISSION_CURRENT:
            {
                mavlink_mission_current_t wpc;
                mavlink_msg_mission_current_decode(&message, &wpc);
                waypointManager.handleWaypointCurrent(message.sysid, message.compid, &wpc);
            }
            break;

        case MAVLINK_MSG_ID_LOCAL_POSITION_SETPOINT:
            {
                mavlink_local_position_setpoint_t p;
                mavlink_msg_local_position_setpoint_decode(&message, &p);
                emit positionSetPointsChanged(uasId, p.x, p.y, p.z, p.yaw, QGC::groundTimeUsecs());
            }
            break;
        case MAVLINK_MSG_ID_STATUSTEXT:
            {
                QByteArray b;
                b.resize(MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN);
                mavlink_msg_statustext_get_text(&message, b.data());
                //b.append('\0');
                QString text = QString(b);
                int severity = mavlink_msg_statustext_get_severity(&message);
                //qDebug() << "RECEIVED STATUS:" << text;false
                //emit statusTextReceived(severity, text);
                emit textMessageReceived(uasId, message.compid, severity, text);
            }
            break;
#ifdef MAVLINK_ENABLED_PIXHAWK
        case MAVLINK_MSG_ID_DATA_TRANSMISSION_HANDSHAKE:
            {
                qDebug() << "RECIEVED ACK TO GET IMAGE";
                mavlink_data_transmission_handshake_t p;
                mavlink_msg_data_transmission_handshake_decode(&message, &p);
                imageSize = p.size;
                imagePackets = p.packets;
                imagePayload = p.payload;
                imageQuality = p.jpg_quality;
                imageType = p.type;
                imageStart = QGC::groundTimeMilliseconds();
            }
            break;

        case MAVLINK_MSG_ID_ENCAPSULATED_DATA:
            {
                mavlink_encapsulated_data_t img;
                mavlink_msg_encapsulated_data_decode(&message, &img);
                int seq = img.seqnr;
                int pos = seq * imagePayload;

                // Check if we have a valid transaction
                if (imagePackets == 0)
                {
                    // NO VALID TRANSACTION - ABORT
                    // Restart statemachine
                    imagePacketsArrived = 0;
                }

                for (int i = 0; i < imagePayload; ++i)
                {
                    if (pos <= imageSize) {
                        imageRecBuffer[pos] = img.data[i];
                    }
                    ++pos;
                }

                ++imagePacketsArrived;

                // emit signal if all packets arrived
                if ((imagePacketsArrived >= imagePackets))
                {
                    // Restart statemachine
                    imagePacketsArrived = 0;
                    emit imageReady(this);
                    qDebug() << "imageReady emitted. all packets arrived";
                }
            }
            break;
#endif
//        case MAVLINK_MSG_ID_OBJECT_DETECTION_EVENT:
//        {
//            mavlink_object_detection_event_t event;
//            mavlink_msg_object_detection_event_decode(&message, &event);
//            QString str(event.name);
//            emit objectDetected(event.time, event.object_id, event.type, str, event.quality, event.bearing, event.distance);
//        }
//        break;
        // WILL BE ENABLED ONCE MESSAGE IS IN COMMON MESSAGE SET
//        case MAVLINK_MSG_ID_MEMORY_VECT:
//        {
//            mavlink_memory_vect_t vect;
//            mavlink_msg_memory_vect_decode(&message, &vect);
//            QString str("mem_%1");
//            quint64 time = getUnixTime(0);
//            int16_t *mem0 = (int16_t *)&vect.value[0];
//            uint16_t *mem1 = (uint16_t *)&vect.value[0];
//            int32_t *mem2 = (int32_t *)&vect.value[0];
//            // uint32_t *mem3 = (uint32_t *)&vect.value[0]; causes overload problem
//            float *mem4 = (float *)&vect.value[0];
//            if ( vect.ver == 0) vect.type = 0, vect.ver = 1; else ;
//            if ( vect.ver == 1)
//            {
//                switch (vect.type) {
//                default:
//                case 0:
//                    for (int i = 0; i < 16; i++)
//                        // FIXME REMOVE LATER emit valueChanged(uasId, str.arg(vect.address+(i*2)), "i16", mem0[i], time);
//                    break;
//                case 1:
//                    for (int i = 0; i < 16; i++)
//                        // FIXME REMOVE LATER emit valueChanged(uasId, str.arg(vect.address+(i*2)), "ui16", mem1[i], time);
//                    break;
//                case 2:
//                    for (int i = 0; i < 16; i++)
//                        // FIXME REMOVE LATER emit valueChanged(uasId, str.arg(vect.address+(i*2)), "Q15", (float)mem0[i]/32767.0, time);
//                    break;
//                case 3:
//                    for (int i = 0; i < 16; i++)
//                        // FIXME REMOVE LATER emit valueChanged(uasId, str.arg(vect.address+(i*2)), "1Q14", (float)mem0[i]/16383.0, time);
//                    break;
//                case 4:
//                    for (int i = 0; i < 8; i++)
//                        // FIXME REMOVE LATER emit valueChanged(uasId, str.arg(vect.address+(i*4)), "i32", mem2[i], time);
//                    break;
//                case 5:
//                    for (int i = 0; i < 8; i++)
//                        // FIXME REMOVE LATER emit valueChanged(uasId, str.arg(vect.address+(i*4)), "i32", mem2[i], time);
//                    break;
//                case 6:
//                    for (int i = 0; i < 8; i++)
//                        // FIXME REMOVE LATER emit valueChanged(uasId, str.arg(vect.address+(i*4)), "float", mem4[i], time);
//                    break;
//                }
//            }
//        }
//        break;
#ifdef MAVLINK_ENABLED_UALBERTA
        case MAVLINK_MSG_ID_NAV_FILTER_BIAS:
            {
                mavlink_nav_filter_bias_t bias;
                mavlink_msg_nav_filter_bias_decode(&message, &bias);
                quint64 time = getUnixTime();
                // FIXME REMOVE LATER emit valueChanged(uasId, "b_f[0]", "raw", bias.accel_0, time);
                // FIXME REMOVE LATER emit valueChanged(uasId, "b_f[1]", "raw", bias.accel_1, time);
                // FIXME REMOVE LATER emit valueChanged(uasId, "b_f[2]", "raw", bias.accel_2, time);
                // FIXME REMOVE LATER emit valueChanged(uasId, "b_w[0]", "raw", bias.gyro_0, time);
                // FIXME REMOVE LATER emit valueChanged(uasId, "b_w[1]", "raw", bias.gyro_1, time);
                // FIXME REMOVE LATER emit valueChanged(uasId, "b_w[2]", "raw", bias.gyro_2, time);
            }
            break;
        case MAVLINK_MSG_ID_RADIO_CALIBRATION:
            {
                mavlink_radio_calibration_t radioMsg;
                mavlink_msg_radio_calibration_decode(&message, &radioMsg);
                QVector<uint16_t> aileron;
                QVector<uint16_t> elevator;
                QVector<uint16_t> rudder;
                QVector<uint16_t> gyro;
                QVector<uint16_t> pitch;
                QVector<uint16_t> throttle;

                for (int i=0; i<MAVLINK_MSG_RADIO_CALIBRATION_FIELD_AILERON_LEN; ++i)
                    aileron << radioMsg.aileron[i];
                for (int i=0; i<MAVLINK_MSG_RADIO_CALIBRATION_FIELD_ELEVATOR_LEN; ++i)
                    elevator << radioMsg.elevator[i];
                for (int i=0; i<MAVLINK_MSG_RADIO_CALIBRATION_FIELD_RUDDER_LEN; ++i)
                    rudder << radioMsg.rudder[i];
                for (int i=0; i<MAVLINK_MSG_RADIO_CALIBRATION_FIELD_GYRO_LEN; ++i)
                    gyro << radioMsg.gyro[i];
                for (int i=0; i<MAVLINK_MSG_RADIO_CALIBRATION_FIELD_PITCH_LEN; ++i)
                    pitch << radioMsg.pitch[i];
                for (int i=0; i<MAVLINK_MSG_RADIO_CALIBRATION_FIELD_THROTTLE_LEN; ++i)
                    throttle << radioMsg.throttle[i];

                QPointer<RadioCalibrationData> radioData = new RadioCalibrationData(aileron, elevator, rudder, gyro, pitch, throttle);
                emit radioCalibrationReceived(radioData);
                delete radioData;
            }
            break;

#endif
            // Messages to ignore
        case MAVLINK_MSG_ID_SET_LOCAL_POSITION_SETPOINT:
        case MAVLINK_MSG_ID_RAW_IMU:
        case MAVLINK_MSG_ID_SCALED_IMU:
        case MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT:
        case MAVLINK_MSG_ID_RAW_PRESSURE:
        case MAVLINK_MSG_ID_SCALED_PRESSURE:
        case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW:
        case MAVLINK_MSG_ID_OPTICAL_FLOW:
            break;
        case MAVLINK_MSG_ID_DEBUG_VECT:
            {
                mavlink_debug_vect_t debug;
                mavlink_msg_debug_vect_decode(&message, &debug);
                debug.name[MAVLINK_MSG_DEBUG_VECT_FIELD_NAME_LEN-1] = '\0';
                QString name(debug.name);
                quint64 time = getUnixTime(debug.time_usec);
                emit valueChanged(uasId, name+".x", "raw", debug.x, time);
                emit valueChanged(uasId, name+".y", "raw", debug.y, time);
                emit valueChanged(uasId, name+".z", "raw", debug.z, time);
            }
            break;
        case MAVLINK_MSG_ID_DEBUG:
            break;
        default:
            {
                if (!unknownPackets.contains(message.msgid))
                {
                    unknownPackets.append(message.msgid);
                    QString errString = tr("UNABLE TO DECODE MESSAGE NUMBER %1").arg(message.msgid);
                    GAudioOutput::instance()->say(errString+tr(", please check console for details."));
                    emit textMessageReceived(uasId, message.compid, 255, errString);
                    std::cout << "Unable to decode message from system " << std::dec << static_cast<int>(message.sysid) << " with message id:" << static_cast<int>(message.msgid) << std::endl;
                    //qDebug() << std::cerr << "Unable to decode message from system " << std::dec << static_cast<int>(message.acid) << " with message id:" << static_cast<int>(message.msgid) << std::endl;
                }
            }
            break;
        }
    }
}

#ifdef QGC_PROTOBUF_ENABLED
void UAS::receiveExtendedMessage(LinkInterface* link, std::tr1::shared_ptr<google::protobuf::Message> message)
{
    if (!link) return;
    if (!links->contains(link))
    {
        addLink(link);
    }

    if (message->GetTypeName() == pointCloud.GetTypeName())
    {
        pointCloud.CopyFrom(*message);
    }
}

#endif

void UAS::setHomePosition(double lat, double lon, double alt)
{
    QMessageBox msgBox;
    msgBox.setIcon(QMessageBox::Warning);
    msgBox.setText("Setting new World Coordinate Frame Origin");
    msgBox.setInformativeText("Do you want to set a new origin? Waypoints defined in the local frame will be shifted in their physical location");
    msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::Cancel);
    msgBox.setDefaultButton(QMessageBox::Cancel);
    int ret = msgBox.exec();

    // Close the message box shortly after the click to prevent accidental clicks
    QTimer::singleShot(5000, &msgBox, SLOT(reject()));


    if (ret == QMessageBox::Yes)
    {
        mavlink_message_t msg;
        mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), 0, MAV_CMD_DO_SET_HOME, 1, 0, 0, 0, 0, lat, lon, alt);
        // Send message twice to increase chance that it reaches its goal
        sendMessage(msg);
        // Wait 15 ms
        QGC::SLEEP::usleep(15000);
        // Send again
        sendMessage(msg);

        // Send new home position to UAS
        mavlink_set_gps_global_origin_t home;
        home.target_system = uasId;
        home.latitude = lat*1E7;
        home.longitude = lon*1E7;
        home.altitude = alt*1000;
        qDebug() << "lat:" << home.latitude << " lon:" << home.longitude;
        mavlink_msg_set_gps_global_origin_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &home);
        sendMessage(msg);
    }
}

void UAS::setLocalOriginAtCurrentGPSPosition()
{
    QMessageBox msgBox;
    msgBox.setIcon(QMessageBox::Warning);
    msgBox.setText("Setting new World Coordinate Frame Origin");
    msgBox.setInformativeText("Do you want to set a new origin? Waypoints defined in the local frame will be shifted in their physical location");
    msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::Cancel);
    msgBox.setDefaultButton(QMessageBox::Cancel);
    int ret = msgBox.exec();

    // Close the message box shortly after the click to prevent accidental clicks
    QTimer::singleShot(5000, &msgBox, SLOT(reject()));


    if (ret == QMessageBox::Yes)
    {
        mavlink_message_t msg;
        mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), 0, MAV_CMD_DO_SET_HOME, 1, 1, 0, 0, 0, 0, 0, 0);
        // Send message twice to increase chance that it reaches its goal
        sendMessage(msg);
        // Wait 15 ms
        QGC::SLEEP::usleep(15000);
        // Send again
        sendMessage(msg);
    }
}

void UAS::setLocalPositionSetpoint(float x, float y, float z, float yaw)
{
#ifdef MAVLINK_ENABLED_PIXHAWK
    mavlink_message_t msg;
    mavlink_msg_set_local_position_setpoint_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, MAV_FRAME_LOCAL_NED, x, y, z, yaw/M_PI*180.0);
    sendMessage(msg);
#else
    Q_UNUSED(x);
    Q_UNUSED(y);
    Q_UNUSED(z);
    Q_UNUSED(yaw);
#endif
}

void UAS::setLocalPositionOffset(float x, float y, float z, float yaw)
{
#ifdef MAVLINK_ENABLED_PIXHAWK
    mavlink_message_t msg;
    mavlink_msg_set_position_control_offset_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, x, y, z, yaw);
    sendMessage(msg);
#else
    Q_UNUSED(x);
    Q_UNUSED(y);
    Q_UNUSED(z);
    Q_UNUSED(yaw);
#endif
}

void UAS::startRadioControlCalibration()
{
    mavlink_message_t msg;
    // Param 1: gyro cal, param 2: mag cal, param 3: pressure cal, Param 4: radio
    mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_CMD_PREFLIGHT_CALIBRATION, 1, 0, 0, 0, 1, 0, 0, 0);
    sendMessage(msg);
}

void UAS::startDataRecording()
{
    mavlink_message_t msg;
    mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, MAV_CMD_DO_CONTROL_VIDEO, 1, -1, -1, -1, 2, 0, 0, 0);
    sendMessage(msg);
}

void UAS::stopDataRecording()
{
    mavlink_message_t msg;
    mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, MAV_CMD_DO_CONTROL_VIDEO, 1, -1, -1, -1, 0, 0, 0, 0);
    sendMessage(msg);
}

void UAS::startMagnetometerCalibration()
{
    mavlink_message_t msg;
    // Param 1: gyro cal, param 2: mag cal, param 3: pressure cal, Param 4: radio
    mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_CMD_PREFLIGHT_CALIBRATION, 1, 0, 1, 0, 0, 0, 0, 0);
    sendMessage(msg);
}

void UAS::startGyroscopeCalibration()
{
    mavlink_message_t msg;
    // Param 1: gyro cal, param 2: mag cal, param 3: pressure cal, Param 4: radio
    mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_CMD_PREFLIGHT_CALIBRATION, 1, 1, 0, 0, 0, 0, 0, 0);
    sendMessage(msg);
}

void UAS::startPressureCalibration()
{
    mavlink_message_t msg;
    // Param 1: gyro cal, param 2: mag cal, param 3: pressure cal, Param 4: radio
    mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_CMD_PREFLIGHT_CALIBRATION, 1, 0, 0, 1, 0, 0, 0, 0);
    sendMessage(msg);
}

quint64 UAS::getUnixReferenceTime(quint64 time)
{
    // Same as getUnixTime, but does not react to attitudeStamped mode
    if (time == 0)
    {
        //        qDebug() << "XNEW time:" <<QGC::groundTimeMilliseconds();
        return QGC::groundTimeMilliseconds();
    }
    // Check if time is smaller than 40 years,
    // assuming no system without Unix timestamp
    // runs longer than 40 years continuously without
    // reboot. In worst case this will add/subtract the
    // communication delay between GCS and MAV,
    // it will never alter the timestamp in a safety
    // critical way.
    //
    // Calculation:
    // 40 years
    // 365 days
    // 24 hours
    // 60 minutes
    // 60 seconds
    // 1000 milliseconds
    // 1000 microseconds
#ifndef _MSC_VER
    else if (time < 1261440000000000LLU)
#else
        else if (time < 1261440000000000)
#endif
        {
        //        qDebug() << "GEN time:" << time/1000 + onboardTimeOffset;
        if (onboardTimeOffset == 0)
        {
            onboardTimeOffset = QGC::groundTimeMilliseconds() - time/1000;
        }
        return time/1000 + onboardTimeOffset;
    }
    else
    {
        // Time is not zero and larger than 40 years -> has to be
        // a Unix epoch timestamp. Do nothing.
        return time/1000;
    }
}

/**
 * @warning If attitudeStamped is enabled, this function will not actually return the precise time stamp
 *          of this measurement augmented to UNIX time, but will MOVE the timestamp IN TIME to match
 *          the last measured attitude. There is no reason why one would want this, except for
 *          system setups where the onboard clock is not present or broken and datasets should
 *          be collected that are still roughly synchronized. PLEASE NOTE THAT ENABLING ATTITUDE STAMPED
 *          RUINS THE SCIENTIFIC NATURE OF THE CORRECT LOGGING FUNCTIONS OF QGROUNDCONTROL!
 */
quint64 UAS::getUnixTimeFromMs(quint64 time)
{
    return getUnixTime(time*1000);
}

/**
 * @warning If attitudeStamped is enabled, this function will not actually return the precise time stamp
 *          of this measurement augmented to UNIX time, but will MOVE the timestamp IN TIME to match
 *          the last measured attitude. There is no reason why one would want this, except for
 *          system setups where the onboard clock is not present or broken and datasets should
 *          be collected that are still roughly synchronized. PLEASE NOTE THAT ENABLING ATTITUDE STAMPED
 *          RUINS THE SCIENTIFIC NATURE OF THE CORRECT LOGGING FUNCTIONS OF QGROUNDCONTROL!
 */
quint64 UAS::getUnixTime(quint64 time)
{
    quint64 ret = 0;
    if (attitudeStamped)
    {
        ret = lastAttitude;
    }
    if (time == 0)
    {
        ret = QGC::groundTimeMilliseconds();
    }
    // Check if time is smaller than 40 years,
    // assuming no system without Unix timestamp
    // runs longer than 40 years continuously without
    // reboot. In worst case this will add/subtract the
    // communication delay between GCS and MAV,
    // it will never alter the timestamp in a safety
    // critical way.
    //
    // Calculation:
    // 40 years
    // 365 days
    // 24 hours
    // 60 minutes
    // 60 seconds
    // 1000 milliseconds
    // 1000 microseconds
#ifndef _MSC_VER
    else if (time < 1261440000000000LLU)
#else
        else if (time < 1261440000000000)
#endif
        {
        //        qDebug() << "GEN time:" << time/1000 + onboardTimeOffset;
        if (onboardTimeOffset == 0)
        {
            onboardTimeOffset = QGC::groundTimeMilliseconds() - time/1000;
        }
        ret = time/1000 + onboardTimeOffset;
    }
    else
    {
        // Time is not zero and larger than 40 years -> has to be
        // a Unix epoch timestamp. Do nothing.
        ret = time/1000;
    }
    return ret;
}

QList<QString> UAS::getParameterNames(int component)
{
    if (parameters.contains(component))
    {
        return parameters.value(component)->keys();
    }
    else
    {
        return QList<QString>();
    }
}

QList<int> UAS::getComponentIds()
{
    return parameters.keys();
}

void UAS::setMode(int mode)
{
    //this->mode = mode; //no call assignament, update receive message from UAS
    mavlink_message_t msg;
    mavlink_msg_set_mode_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, (uint8_t)uasId, (uint8_t)mode, (uint16_t)navMode);
    sendMessage(msg);
    qDebug() << "SENDING REQUEST TO SET MODE TO SYSTEM" << uasId << ", REQUEST TO SET MODE " << (uint8_t)mode;
}

void UAS::sendMessage(mavlink_message_t message)
{
    // Emit message on all links that are currently connected
    foreach (LinkInterface* link, *links)
    {
        if (link)
        {
            sendMessage(link, message);
        }
        else
        {
            // Remove from list
            links->removeAt(links->indexOf(link));
        }
    }
}

void UAS::forwardMessage(mavlink_message_t message)
{
    // Emit message on all links that are currently connected
    QList<LinkInterface*>link_list = LinkManager::instance()->getLinksForProtocol(mavlink);

    foreach(LinkInterface* link, link_list)
    {
        if (link)
        {
            SerialLink* serial = dynamic_cast<SerialLink*>(link);
            if(serial != 0)
            {
                for(int i=0; i<links->size(); i++)
                {
                    if(serial != links->at(i))
                    {
                        qDebug()<<"Antenna tracking: Forwarding Over link: "<<serial->getName()<<" "<<serial;
                        sendMessage(serial, message);
                    }
                }
            }
        }
    }
}

void UAS::sendMessage(LinkInterface* link, mavlink_message_t message)
{
    if(!link) return;
    // Create buffer
    uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
    // Write message into buffer, prepending start sign
    int len = mavlink_msg_to_send_buffer(buffer, &message);
    static uint8_t messageKeys[256] = MAVLINK_MESSAGE_CRCS;
    mavlink_finalize_message_chan(&message, mavlink->getSystemId(), mavlink->getComponentId(), link->getId(), message.len, messageKeys[message.msgid]);
    // If link is connected
    if (link->isConnected())
    {
        // Send the portion of the buffer now occupied by the message
        link->writeBytes((const char*)buffer, len);
    }
}

/**
 * @param value battery voltage
 */
float UAS::filterVoltage(float value) const
{
    return lpVoltage * 0.7f + value * 0.3f;
}

QString UAS::getNavModeText(int mode)
{
    if (autopilot == MAV_AUTOPILOT_PIXHAWK)
    {
    switch (mode)
    {
    case 0:
        return QString("PREFLIGHT");
        break;
    default:
        return QString("UNKNOWN");
    }
    }
    else if (autopilot == MAV_AUTOPILOT_ARDUPILOTMEGA)
    {
        return QString("UNKNOWN");
    }
    else if (autopilot == MAV_AUTOPILOT_OPENPILOT)
    {
        return QString("UNKNOWN");
    }
    // If nothing matches, return unknown
    return QString("UNKNOWN");
}

void UAS::getStatusForCode(int statusCode, QString& uasState, QString& stateDescription)
{
    switch (statusCode)
    {
    case MAV_STATE_UNINIT:
        uasState = tr("UNINIT");
        stateDescription = tr("Unitialized, booting up.");
        break;
    case MAV_STATE_BOOT:
        uasState = tr("BOOT");
        stateDescription = tr("Booting system, please wait.");
        break;
    case MAV_STATE_CALIBRATING:
        uasState = tr("CALIBRATING");
        stateDescription = tr("Calibrating sensors, please wait.");
        break;
    case MAV_STATE_ACTIVE:
        uasState = tr("ACTIVE");
        stateDescription = tr("Active, normal operation.");
        break;
    case MAV_STATE_STANDBY:
        uasState = tr("STANDBY");
        stateDescription = tr("Standby mode, ready for liftoff.");
        break;
    case MAV_STATE_CRITICAL:
        uasState = tr("CRITICAL");
        stateDescription = tr("FAILURE: Continuing operation.");
        break;
    case MAV_STATE_EMERGENCY:
        uasState = tr("EMERGENCY");
        stateDescription = tr("EMERGENCY: Land Immediately!");
        break;
        //case MAV_STATE_HILSIM:
        //uasState = tr("HIL SIM");
        //stateDescription = tr("HIL Simulation, Sensors read from SIM");
        //break;

    case MAV_STATE_POWEROFF:
        uasState = tr("SHUTDOWN");
        stateDescription = tr("Powering off system.");
        break;

    default:
        uasState = tr("UNKNOWN");
        stateDescription = tr("Unknown system state");
        break;
    }
}

QImage UAS::getImage()
{
#ifdef MAVLINK_ENABLED_PIXHAWK

    qDebug() << "IMAGE TYPE:" << imageType;

    // RAW greyscale
    if (imageType == MAVLINK_DATA_STREAM_IMG_RAW8U)
    {
        // TODO FIXME Fabian
        // RAW hardcoded to 22x22
        int imgWidth = 22;
        int imgHeight = 22;
        int imgColors = 255;
        //const int headerSize = 15;

        // Construct PGM header
        QString header("P5\n%1 %2\n%3\n");
        header = header.arg(imgWidth).arg(imgHeight).arg(imgColors);

        QByteArray tmpImage(header.toStdString().c_str(), header.toStdString().size());
        tmpImage.append(imageRecBuffer);

        //qDebug() << "IMAGE SIZE:" << tmpImage.size() << "HEADER SIZE: (15):" << header.size() << "HEADER: " << header;

        if (imageRecBuffer.isNull())
        {
            qDebug()<< "could not convertToPGM()";
            return QImage();
        }

        if (!image.loadFromData(tmpImage, "PGM"))
        {
            qDebug()<< "could not create extracted image";
            return QImage();
        }

    }
    // BMP with header
    else if (imageType == MAVLINK_DATA_STREAM_IMG_BMP ||
             imageType == MAVLINK_DATA_STREAM_IMG_JPEG ||
             imageType == MAVLINK_DATA_STREAM_IMG_PGM ||
             imageType == MAVLINK_DATA_STREAM_IMG_PNG)
    {
       if (!image.loadFromData(imageRecBuffer))
        {
           qDebug() << "Loading data from image buffer failed!";
        }
    }
    // Restart statemachine
    imagePacketsArrived = 0;
    //imageRecBuffer.clear();
    return image;
#else
	return QImage();
#endif

}

void UAS::requestImage()
{
#ifdef MAVLINK_ENABLED_PIXHAWK
    qDebug() << "trying to get an image from the uas...";

    // check if there is already an image transmission going on
    if (imagePacketsArrived == 0)
    {
        mavlink_message_t msg;
        mavlink_msg_data_transmission_handshake_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, DATA_TYPE_JPEG_IMAGE, 0, 0, 0, 50);
        sendMessage(msg);
    }
#endif
}


/* MANAGEMENT */

/*
 *
 * @return The uptime in milliseconds
 *
 **/
quint64 UAS::getUptime() const
{
    if(startTime == 0)
    {
        return 0;
    }
    else
    {
        return MG::TIME::getGroundTimeNow() - startTime;
    }
}

int UAS::getCommunicationStatus() const
{
    return commStatus;
}

void UAS::requestParameters()
{
    mavlink_message_t msg;
    mavlink_msg_param_request_list_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), 25);
    sendMessage(msg);
}

void UAS::writeParametersToStorage()
{
    mavlink_message_t msg;
    mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, MAV_CMD_PREFLIGHT_STORAGE, 1, 1, -1, -1, -1, 0, 0, 0);
    qDebug() << "SENT COMMAND" << MAV_CMD_PREFLIGHT_STORAGE;
    sendMessage(msg);
}

void UAS::readParametersFromStorage()
{
    mavlink_message_t msg;
    mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, MAV_CMD_PREFLIGHT_STORAGE, 1, 0, -1, -1, -1, 0, 0, 0);
    sendMessage(msg);
}

void UAS::enableAllDataTransmission(int rate)
{
    // Buffers to write data to
    mavlink_message_t msg;
    mavlink_request_data_stream_t stream;
    // Select the message to request from now on
    // 0 is a magic ID and will enable/disable the standard message set except for heartbeat
    stream.req_stream_id = MAV_DATA_STREAM_ALL;
    // Select the update rate in Hz the message should be send
    // All messages will be send with their default rate
    // TODO: use 0 to turn off and get rid of enable/disable? will require
    //  a different magic flag for turning on defaults, possibly something really high like 1111 ?
    stream.req_message_rate = 0;
    // Start / stop the message
    stream.start_stop = (rate) ? 1 : 0;
    // The system which should take this command
    stream.target_system = uasId;
    // The component / subsystem which should take this command
    stream.target_component = 0;
    // Encode and send the message
    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
    // Send message twice to increase chance of reception
    sendMessage(msg);
}

void UAS::enableRawSensorDataTransmission(int rate)
{
    // Buffers to write data to
    mavlink_message_t msg;
    mavlink_request_data_stream_t stream;
    // Select the message to request from now on
    stream.req_stream_id = MAV_DATA_STREAM_RAW_SENSORS;
    // Select the update rate in Hz the message should be send
    stream.req_message_rate = rate;
    // Start / stop the message
    stream.start_stop = (rate) ? 1 : 0;
    // The system which should take this command
    stream.target_system = uasId;
    // The component / subsystem which should take this command
    stream.target_component = 0;
    // Encode and send the message
    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
    // Send message twice to increase chance of reception
    sendMessage(msg);
}

void UAS::enableExtendedSystemStatusTransmission(int rate)
{
    // Buffers to write data to
    mavlink_message_t msg;
    mavlink_request_data_stream_t stream;
    // Select the message to request from now on
    stream.req_stream_id = MAV_DATA_STREAM_EXTENDED_STATUS;
    // Select the update rate in Hz the message should be send
    stream.req_message_rate = rate;
    // Start / stop the message
    stream.start_stop = (rate) ? 1 : 0;
    // The system which should take this command
    stream.target_system = uasId;
    // The component / subsystem which should take this command
    stream.target_component = 0;
    // Encode and send the message
    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
    // Send message twice to increase chance of reception
    sendMessage(msg);
}

void UAS::enableRCChannelDataTransmission(int rate)
{
#if defined(MAVLINK_ENABLED_UALBERTA_MESSAGES)
    mavlink_message_t msg;
    mavlink_msg_request_rc_channels_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, enabled);
    sendMessage(msg);
#else
    mavlink_message_t msg;
    mavlink_request_data_stream_t stream;
    // Select the message to request from now on
    stream.req_stream_id = MAV_DATA_STREAM_RC_CHANNELS;
    // Select the update rate in Hz the message should be send
    stream.req_message_rate = rate;
    // Start / stop the message
    stream.start_stop = (rate) ? 1 : 0;
    // The system which should take this command
    stream.target_system = uasId;
    // The component / subsystem which should take this command
    stream.target_component = 0;
    // Encode and send the message
    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
    // Send message twice to increase chance of reception
    sendMessage(msg);
#endif
}

void UAS::enableRawControllerDataTransmission(int rate)
{
    // Buffers to write data to
    mavlink_message_t msg;
    mavlink_request_data_stream_t stream;
    // Select the message to request from now on
    stream.req_stream_id = MAV_DATA_STREAM_RAW_CONTROLLER;
    // Select the update rate in Hz the message should be send
    stream.req_message_rate = rate;
    // Start / stop the message
    stream.start_stop = (rate) ? 1 : 0;
    // The system which should take this command
    stream.target_system = uasId;
    // The component / subsystem which should take this command
    stream.target_component = 0;
    // Encode and send the message
    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
    // Send message twice to increase chance of reception
    sendMessage(msg);
}

//void UAS::enableRawSensorFusionTransmission(int rate)
//{
//    // Buffers to write data to
//    mavlink_message_t msg;
//    mavlink_request_data_stream_t stream;
//    // Select the message to request from now on
//    stream.req_stream_id = MAV_DATA_STREAM_RAW_SENSOR_FUSION;
//    // Select the update rate in Hz the message should be send
//    stream.req_message_rate = rate;
//    // Start / stop the message
//    stream.start_stop = (rate) ? 1 : 0;
//    // The system which should take this command
//    stream.target_system = uasId;
//    // The component / subsystem which should take this command
//    stream.target_component = 0;
//    // Encode and send the message
//    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
//    // Send message twice to increase chance of reception
//    sendMessage(msg);
//    sendMessage(msg);
//}

void UAS::enablePositionTransmission(int rate)
{
    // Buffers to write data to
    mavlink_message_t msg;
    mavlink_request_data_stream_t stream;
    // Select the message to request from now on
    stream.req_stream_id = MAV_DATA_STREAM_POSITION;
    // Select the update rate in Hz the message should be send
    stream.req_message_rate = rate;
    // Start / stop the message
    stream.start_stop = (rate) ? 1 : 0;
    // The system which should take this command
    stream.target_system = uasId;
    // The component / subsystem which should take this command
    stream.target_component = 0;
    // Encode and send the message
    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
    // Send message twice to increase chance of reception
    sendMessage(msg);
}

void UAS::enableExtra1Transmission(int rate)
{
    // Buffers to write data to
    mavlink_message_t msg;
    mavlink_request_data_stream_t stream;
    // Select the message to request from now on
    stream.req_stream_id = MAV_DATA_STREAM_EXTRA1;
    // Select the update rate in Hz the message should be send
    stream.req_message_rate = rate;
    // Start / stop the message
    stream.start_stop = (rate) ? 1 : 0;
    // The system which should take this command
    stream.target_system = uasId;
    // The component / subsystem which should take this command
    stream.target_component = 0;
    // Encode and send the message
    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
}

void UAS::enableExtra2Transmission(int rate)
{
    // Buffers to write data to
    mavlink_message_t msg;
    mavlink_request_data_stream_t stream;
    // Select the message to request from now on
    stream.req_stream_id = MAV_DATA_STREAM_EXTRA2;
    // Select the update rate in Hz the message should be send
    stream.req_message_rate = rate;
    // Start / stop the message
    stream.start_stop = (rate) ? 1 : 0;
    // The system which should take this command
    stream.target_system = uasId;
    // The component / subsystem which should take this command
    stream.target_component = 0;
    // Encode and send the message
    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
}

void UAS::enableExtra3Transmission(int rate)
{
    // Buffers to write data to
    mavlink_message_t msg;
    mavlink_request_data_stream_t stream;
    // Select the message to request from now on
    stream.req_stream_id = MAV_DATA_STREAM_EXTRA3;
    // Select the update rate in Hz the message should be send
    stream.req_message_rate = rate;
    // Start / stop the message
    stream.start_stop = (rate) ? 1 : 0;
    // The system which should take this command
    stream.target_system = uasId;
    // The component / subsystem which should take this command
    stream.target_component = 0;
    // Encode and send the message
    mavlink_msg_request_data_stream_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &stream);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
}

/**
 * Set a parameter value onboard
 *
 * @param component The component to set the parameter
 * @param id Name of the parameter
 * @param value Parameter value
 */
void UAS::setParameter(const int component, const QString& id, const QVariant& value)
{
    if (!id.isNull())
    {
        mavlink_message_t msg;
        mavlink_param_set_t p;
        mavlink_param_union_t union_value;

        // Assign correct value based on QVariant
        switch (value.type())
        {
        case QVariant::Int:
            union_value.param_int32 = value.toInt();
            p.param_type = MAVLINK_TYPE_INT32_T;
            break;
        case QVariant::UInt:
            union_value.param_uint32 = value.toUInt();
            p.param_type = MAVLINK_TYPE_UINT32_T;
            break;
        case QMetaType::Float:
            union_value.param_float = value.toFloat();
            p.param_type = MAVLINK_TYPE_FLOAT;
            break;
        default:
            qCritical() << "ABORTED PARAM SEND, NO VALID QVARIANT TYPE";
            return;
        }

        p.param_value = union_value.param_float;
        p.target_system = (uint8_t)uasId;
        p.target_component = (uint8_t)component;

        qDebug() << "SENT PARAM:" << value;

        // Copy string into buffer, ensuring not to exceed the buffer size
        for (unsigned int i = 0; i < sizeof(p.param_id); i++)
        {
            // String characters
            if ((int)i < id.length() && i < (sizeof(p.param_id) - 1))
            {
                p.param_id[i] = id.toAscii()[i];
            }
            //        // Null termination at end of string or end of buffer
            //        else if ((int)i == id.length() || i == (sizeof(p.param_id) - 1))
            //        {
            //            p.param_id[i] = '\0';
            //        }
            // Zero fill
            else
            {
                p.param_id[i] = 0;
            }
        }
        mavlink_msg_param_set_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &p);
        sendMessage(msg);
    }
}

void UAS::requestParameter(int component, int id)
{
    // Request parameter, use parameter name to request it
    mavlink_message_t msg;
    mavlink_param_request_read_t read;
    read.param_index = id;
    read.param_id[0] = '\0'; // Enforce null termination
    read.target_system = uasId;
    read.target_component = component;
    mavlink_msg_param_request_read_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &read);
    sendMessage(msg);
    qDebug() << __FILE__ << __LINE__ << "REQUESTING PARAM RETRANSMISSION FROM COMPONENT" << component << "FOR PARAM ID" << id;
}

void UAS::requestParameter(int component, const QString& parameter)
{
    // Request parameter, use parameter name to request it
    mavlink_message_t msg;
    mavlink_param_request_read_t read;
    read.param_index = -1;
    // Copy full param name or maximum max field size
    if (parameter.length() > MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN)
    {
        emit textMessageReceived(uasId, 0, 255, QString("QGC WARNING: Parameter name %1 is more than %2 bytes long. This might lead to errors and mishaps!").arg(parameter).arg(MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN-1));
    }
    memcpy(read.param_id, parameter.toStdString().c_str(), qMax(parameter.length(), MAVLINK_MSG_PARAM_REQUEST_READ_FIELD_PARAM_ID_LEN));
    read.param_id[15] = '\0'; // Enforce null termination
    read.target_system = uasId;
    read.target_component = component;
    mavlink_msg_param_request_read_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &read);
    sendMessage(msg);
    qDebug() << __FILE__ << __LINE__ << "REQUESTING PARAM RETRANSMISSION FROM COMPONENT" << component << "FOR PARAM NAME" << parameter;
}

void UAS::setSystemType(int systemType)
{
    type = systemType;
    // If the airframe is still generic, change it to a close default type
    if (airframe == 0)
    {
        switch (systemType)
        {
        case MAV_TYPE_FIXED_WING:
            airframe = QGC_AIRFRAME_EASYSTAR;
            break;
        case MAV_TYPE_QUADROTOR:
            airframe = QGC_AIRFRAME_MIKROKOPTER;
            break;
        }
    }
    emit systemSpecsChanged(uasId);
}

void UAS::setUASName(const QString& name)
{
    if (name != "")
    {
        this->name = name;
        writeSettings();
        emit nameChanged(name);
        emit systemSpecsChanged(uasId);
    }
}

void UAS::executeCommand(MAV_CMD command)
{
    mavlink_message_t msg;
    mavlink_command_long_t cmd;
    cmd.command = (uint8_t)command;
    cmd.confirmation = 0;
    cmd.param1 = 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 = uasId;
    cmd.target_component = 0;
    mavlink_msg_command_long_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &cmd);
    sendMessage(msg);
}

void UAS::executeCommand(MAV_CMD command, int confirmation, float param1, float param2, float param3, float param4, int component)
{
    mavlink_message_t msg;
    mavlink_command_long_t cmd;
    cmd.command = (uint8_t)command;
    cmd.confirmation = confirmation;
    cmd.param1 = param1;
    cmd.param2 = param2;
    cmd.param3 = param3;
    cmd.param4 = param4;
    cmd.param5 = 0.0f;
    cmd.param6 = 0.0f;
    cmd.param7 = 0.0f;
    cmd.target_system = uasId;
    cmd.target_component = component;
    mavlink_msg_command_long_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &cmd);
    sendMessage(msg);
}

void UAS::executeCommand(MAV_CMD command, int confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7, int component)
{
    mavlink_message_t msg;
    mavlink_command_long_t cmd;
    cmd.command = (uint8_t)command;
    cmd.confirmation = confirmation;
    cmd.param1 = param1;
    cmd.param2 = param2;
    cmd.param3 = param3;
    cmd.param4 = param4;
    cmd.param5 = param5;
    cmd.param6 = param6;
    cmd.param7 = param7;
    cmd.target_system = uasId;
    cmd.target_component = component;
    mavlink_msg_command_long_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &cmd);
    sendMessage(msg);
}

/**
 * Launches the system
 *
 **/
void UAS::launch()
{
    mavlink_message_t msg;
    mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), 0, MAV_CMD_NAV_TAKEOFF, 1, 0, 0, 0, 0, 0, 0, 0);
    sendMessage(msg);
}

/**
 * Depending on the UAS, this might make the rotors of a helicopter spinning
 *
 **/
void UAS::armSystem()
{
    mavlink_message_t msg;
    mavlink_msg_set_mode_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), mode, navMode | MAV_MODE_FLAG_SAFETY_ARMED);
    sendMessage(msg);
}

/**
 * @warning Depending on the UAS, this might completely stop all motors.
 *
 **/
void UAS::disarmSystem()
{
    mavlink_message_t msg;
    mavlink_msg_set_mode_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), mode, navMode & !MAV_MODE_FLAG_SAFETY_ARMED);
    sendMessage(msg);
}

void UAS::setManualControlCommands(double roll, double pitch, double yaw, double thrust)
{
    // Scale values
    double rollPitchScaling = 0.2f;
    double yawScaling = 0.5f;
    double thrustScaling = 1.0f;

    manualRollAngle = roll * rollPitchScaling;
    manualPitchAngle = pitch * rollPitchScaling;
    manualYawAngle = yaw * yawScaling;
    manualThrust = thrust * thrustScaling;

    // If system has manual inputs enabled and is armed
    if((mode & MAV_MODE_FLAG_DECODE_POSITION_MANUAL) && (mode & MAV_MODE_FLAG_DECODE_POSITION_SAFETY))
    {
        mavlink_message_t message;
        mavlink_msg_manual_control_pack(mavlink->getSystemId(), mavlink->getComponentId(), &message, this->uasId, (float)manualRollAngle, (float)manualPitchAngle, (float)manualYawAngle, (float)manualThrust, controlRollManual, controlPitchManual, controlYawManual, controlThrustManual);
        sendMessage(message);
        qDebug() << __FILE__ << __LINE__ << ": SENT MANUAL CONTROL MESSAGE: roll" << manualRollAngle << " pitch: " << manualPitchAngle << " yaw: " << manualYawAngle << " thrust: " << manualThrust;

        emit attitudeThrustSetPointChanged(this, roll, pitch, yaw, thrust, MG::TIME::getGroundTimeNow());
    }
    else
    {
        qDebug() << "JOYSTICK/MANUAL CONTROL: IGNORING COMMANDS: Set mode to MANUAL to send joystick commands first";
    }
}

int UAS::getSystemType()
{
    return this->type;
}

void UAS::receiveButton(int buttonIndex)
{
    switch (buttonIndex)
    {
    case 0:

        break;
    case 1:

        break;
    default:

        break;
    }
    //    qDebug() << __FILE__ << __LINE__ << ": Received button clicked signal (button # is: " << buttonIndex << "), UNIMPLEMENTED IN MAVLINK!";

}


void UAS::halt()
{
    mavlink_message_t msg;
    mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_ALL, MAV_CMD_OVERRIDE_GOTO, 1, MAV_GOTO_DO_HOLD, MAV_GOTO_HOLD_AT_CURRENT_POSITION, 0, 0, 0, 0, 0);
    sendMessage(msg);
}

void UAS::go()
{
    mavlink_message_t msg;
    mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_ALL, MAV_CMD_OVERRIDE_GOTO, 1, MAV_GOTO_DO_CONTINUE, MAV_GOTO_HOLD_AT_CURRENT_POSITION, 0, 0, 0, 0, 0);
    sendMessage(msg);
}

/** Order the robot to return home / to land on the runway **/
void UAS::home()
{
    mavlink_message_t msg;

    double latitude = UASManager::instance()->getHomeLatitude();
    double longitude = UASManager::instance()->getHomeLongitude();
    double altitude = UASManager::instance()->getHomeAltitude();
    int frame = UASManager::instance()->getHomeFrame();

    mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_ALL, MAV_CMD_OVERRIDE_GOTO, 1, MAV_GOTO_DO_CONTINUE, MAV_GOTO_HOLD_AT_CURRENT_POSITION, frame, 0, latitude, longitude, altitude);
    sendMessage(msg);
}

/**
 * The MAV starts the emergency landing procedure. The behaviour depends on the onboard implementation
 * and might differ between systems.
 */
void UAS::emergencySTOP()
{
    // FIXME MAVLINKV10PORTINGNEEDED
    halt();
}

/**
 * Shut down this mav - All onboard systems are immediately shut down (e.g. the main power line is cut).
 * @warning This might lead to a crash
 *
 * The command will not be executed until emergencyKILLConfirm is issues immediately afterwards
 */
bool UAS::emergencyKILL()
{
    halt();
    // FIXME MAVLINKV10PORTINGNEEDED
//    bool result = false;
//    QMessageBox msgBox;
//    msgBox.setIcon(QMessageBox::Critical);
//    msgBox.setText("EMERGENCY: KILL ALL MOTORS ON UAS");
//    msgBox.setInformativeText("Do you want to cut power on all systems?");
//    msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::Cancel);
//    msgBox.setDefaultButton(QMessageBox::Cancel);
//    int ret = msgBox.exec();

//    // Close the message box shortly after the click to prevent accidental clicks
//    QTimer::singleShot(5000, &msgBox, SLOT(reject()));


//    if (ret == QMessageBox::Yes)
//    {
//        mavlink_message_t msg;
//        // TODO Replace MG System ID with static function call and allow to change ID in GUI
//        mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(), MAV_COMP_ID_IMU, (int)MAV_ACTION_EMCY_KILL);
//        // Send message twice to increase chance of reception
//        sendMessage(msg);
//        sendMessage(msg);
//        result = true;
//    }
//    return result;
    return false;
}

void UAS::enableHil(bool enable)
{
    // Connect Flight Gear Link
    if (enable)
    {
        startHil();
    }
    else
    {
        stopHil();
    }
}

/**
* @param time_us Timestamp (microseconds since UNIX epoch or microseconds since system boot)
* @param roll Roll angle (rad)
* @param pitch Pitch angle (rad)
* @param yaw Yaw angle (rad)
* @param rollspeed Roll angular speed (rad/s)
* @param pitchspeed Pitch angular speed (rad/s)
* @param yawspeed Yaw angular speed (rad/s)
* @param lat Latitude, expressed as * 1E7
* @param lon Longitude, expressed as * 1E7
* @param alt Altitude in meters, expressed as * 1000 (millimeters)
* @param vx Ground X Speed (Latitude), expressed as m/s * 100
* @param vy Ground Y Speed (Longitude), expressed as m/s * 100
* @param vz Ground Z Speed (Altitude), expressed as m/s * 100
* @param xacc X acceleration (mg)
* @param yacc Y acceleration (mg)
* @param zacc Z acceleration (mg)
*/
void UAS::sendHilState(uint64_t time_us, float roll, float pitch, float yaw, float rollspeed,
                    float pitchspeed, float yawspeed, int32_t lat, int32_t lon, int32_t alt,
                    int16_t vx, int16_t vy, int16_t vz, int16_t xacc, int16_t yacc, int16_t zacc)
{
    mavlink_message_t msg;
    mavlink_msg_hil_state_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, time_us, roll, pitch, yaw, rollspeed, pitchspeed, yawspeed, lat, lon, alt, vx, vy, vz, xacc, yacc, zacc);
    sendMessage(msg);
}


void UAS::startHil()
{
    // Connect Flight Gear Link
    simulation->connectSimulation();
    mavlink_message_t msg;
    mavlink_msg_set_mode_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), mode | MAV_MODE_FLAG_HIL_ENABLED, navMode);
    sendMessage(msg);
}

void UAS::stopHil()
{
    simulation->disconnectSimulation();
    mavlink_message_t msg;
    mavlink_msg_set_mode_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), mode & !MAV_MODE_FLAG_HIL_ENABLED, navMode);
    sendMessage(msg);
}


void UAS::shutdown()
{
    bool result = false;
    QMessageBox msgBox;
    msgBox.setIcon(QMessageBox::Critical);
    msgBox.setText("Shutting down the UAS");
    msgBox.setInformativeText("Do you want to shut down the onboard computer?");

    msgBox.setStandardButtons(QMessageBox::Yes | QMessageBox::Cancel);
    msgBox.setDefaultButton(QMessageBox::Cancel);
    int ret = msgBox.exec();

    // Close the message box shortly after the click to prevent accidental clicks
    QTimer::singleShot(5000, &msgBox, SLOT(reject()));

    if (ret == QMessageBox::Yes)
    {
        // If the active UAS is set, execute command
        mavlink_message_t msg;
        mavlink_msg_command_long_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_ALL, MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN, 1, 0, 2, 0, 0, 0, 0, 0);
        sendMessage(msg);
        result = true;
    }
}

void UAS::setTargetPosition(float x, float y, float z, float yaw)
{
    mavlink_message_t msg;
    mavlink_msg_set_local_position_setpoint_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, MAV_FRAME_LOCAL_NED, x, y, z, yaw);
    sendMessage(msg);
}

/**
 * @return The name of this system as string in human-readable form
 */
QString UAS::getUASName(void) const
{
    QString result;
    if (name == "")
    {
        result = tr("MAV ") + result.sprintf("%03d", getUASID());
    }
    else
    {
        result = name;
    }
    return result;
}

const QString& UAS::getShortState() const
{
    return shortStateText;
}

QString UAS::getShortModeTextFor(int id)
{
    QString mode;
    uint8_t modeid = id;

    qDebug() << "MODE:" << modeid;

    // BASE MODE DECODING
    if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_AUTO)
    {
        mode += "AUTO";
    }
    if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_GUIDED)
    {
        mode += "GUIDED";
    }
    if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_STABILIZE)
    {
        mode += "STABILIZED";
    }
    if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_TEST)
    {
        mode += "TEST";
    }
    if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_MANUAL)
    {
        mode += "MANUAL";
    }

    if (modeid == 0)
    {
        mode = "PREFLIGHT";
    }

    // ARMED STATE DECODING
    if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_SAFETY)
    {
        mode.prepend("A|");
    }
    else
    {
        mode.prepend("D|");
    }

    // HARDWARE IN THE LOOP DECODING
    if (modeid & (uint8_t)MAV_MODE_FLAG_DECODE_POSITION_HIL)
    {
        mode.prepend("HIL:");
    }

    return mode;
}

const QString& UAS::getShortMode() const
{
    return shortModeText;
}

void UAS::addLink(LinkInterface* link)
{
    if (!links->contains(link))
    {
        links->append(link);
        connect(link, SIGNAL(destroyed(QObject*)), this, SLOT(removeLink(QObject*)));
    }
}

void UAS::removeLink(QObject* object)
{
    LinkInterface* link = dynamic_cast<LinkInterface*>(object);
    if (link)
    {
        links->removeAt(links->indexOf(link));
    }
}

/**
 * @brief Get the links associated with this robot
 *
 **/
QList<LinkInterface*>* UAS::getLinks()
{
    return links;
}



void UAS::setBattery(BatteryType type, int cells)
{
    this->batteryType = type;
    this->cells = cells;
    switch (batteryType)
    {
    case NICD:
        break;
    case NIMH:
        break;
    case LIION:
        break;
    case LIPOLY:
        fullVoltage = this->cells * UAS::lipoFull;
        emptyVoltage = this->cells * UAS::lipoEmpty;
        break;
    case LIFE:
        break;
    case AGZN:
        break;
    }
}

void UAS::setBatterySpecs(const QString& specs)
{
    if (specs.length() == 0 || specs.contains("%"))
    {
        batteryRemainingEstimateEnabled = false;
        bool ok;
        QString percent = specs;
        percent = percent.remove("%");
        float temp = percent.toFloat(&ok);
        if (ok)
        {
            warnLevelPercent = temp;
        }
        else
        {
            emit textMessageReceived(0, 0, 0, "Could not set battery options, format is wrong");
        }
    }
    else
    {
        batteryRemainingEstimateEnabled = true;
        QString stringList = specs;
        stringList = stringList.remove("V");
        stringList = stringList.remove("v");
        QStringList parts = stringList.split(",");
        if (parts.length() == 3)
        {
            float temp;
            bool ok;
            // Get the empty voltage
            temp = parts.at(0).toFloat(&ok);
            if (ok) emptyVoltage = temp;
            // Get the warning voltage
            temp = parts.at(1).toFloat(&ok);
            if (ok) warnVoltage = temp;
            // Get the full voltage
            temp = parts.at(2).toFloat(&ok);
            if (ok) fullVoltage = temp;
        }
        else
        {
            emit textMessageReceived(0, 0, 0, "Could not set battery options, format is wrong");
        }
    }
}

QString UAS::getBatterySpecs()
{
    if (batteryRemainingEstimateEnabled)
    {
        return QString("%1V,%2V,%3V").arg(emptyVoltage).arg(warnVoltage).arg(fullVoltage);
    }
    else
    {
        return QString("%1%").arg(warnLevelPercent);
    }
}

int UAS::calculateTimeRemaining()
{
    quint64 dt = MG::TIME::getGroundTimeNow() - startTime;
    double seconds = dt / 1000.0f;
    double voltDifference = startVoltage - currentVoltage;
    if (voltDifference <= 0) voltDifference = 0.00000000001f;
    double dischargePerSecond = voltDifference / seconds;
    int remaining = static_cast<int>((currentVoltage - emptyVoltage) / dischargePerSecond);
    // Can never be below 0
    if (remaining < 0) remaining = 0;
    return remaining;
}

/**
 * @return charge level in percent - 0 - 100
 */
float UAS::getChargeLevel()
{
    if (batteryRemainingEstimateEnabled)
    {
        if (lpVoltage < emptyVoltage)
        {
            chargeLevel = 0.0f;
        }
        else if (lpVoltage > fullVoltage)
        {
            chargeLevel = 100.0f;
        }
        else
        {
            chargeLevel = 100.0f * ((lpVoltage - emptyVoltage)/(fullVoltage - emptyVoltage));
        }
    }
    return chargeLevel;
}

void UAS::startLowBattAlarm()
{
    if (!lowBattAlarm)
    {
        GAudioOutput::instance()->alert(tr("system %1 has low battery").arg(getUASName()));
        QTimer::singleShot(2500, GAudioOutput::instance(), SLOT(startEmergency()));
        lowBattAlarm = true;
    }
}

void UAS::stopLowBattAlarm()
{
    if (lowBattAlarm)
    {
        GAudioOutput::instance()->stopEmergency();
        lowBattAlarm = false;
    }
}