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(false),
    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(0),
    attitudeKnown(false),
    paramManager(NULL)
{
    color = UASInterface::getNextColor();
    setBattery(LIPOLY, 3);
    connect(statusTimeout, SIGNAL(timeout()), this, SLOT(updateState()));
    connect(this, SIGNAL(systemSpecsChanged(int)), this, SLOT(writeSettings()));
    statusTimeout->start(500);
    readSettings();
}

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 > (uint8_t)MAV_MODE_LOCKED && 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;

    if (message.sysid == uasId) {
        QString uasState;
        QString stateDescription;

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

            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_BOOT:
            getStatusForCode((int)MAV_STATE_BOOT, uasState, stateDescription);
            emit statusChanged(this, uasState, stateDescription);
            onboardTimeOffset = 0; // Reset offset measurement
            break;
        case MAVLINK_MSG_ID_SYS_STATUS: {
            mavlink_sys_status_t state;
            mavlink_msg_sys_status_decode(&message, &state);

            // FIXME
            //qDebug() << "1 SYSTEM STATUS:" << state.status;

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

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

                stateAudio = " changed status to " + uasState;
            }

            if (navMode != state.nav_mode) {
                emit navModeChanged(uasId, state.nav_mode, getNavModeText(state.nav_mode));
                navMode = state.nav_mode;
            }

            emit loadChanged(this,state.load/10.0f);
            emit valueChanged(uasId, "Load", "%", ((float)state.load)/10.0f, getUnixTime());

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

                switch (state.mode) {
                case (uint8_t)MAV_MODE_LOCKED:
                    mode = "LOCKED MODE";
                    break;
                case (uint8_t)MAV_MODE_MANUAL:
                    mode = "MANUAL MODE";
                    break;

#ifdef MAVLINK_ENABLED_SLUGS
                case (uint8_t)MAV_MODE_AUTO:
                    mode = "WAYPOINT MODE";
                    break;
                case (uint8_t)MAV_MODE_GUIDED:
                    mode = "MID-L CMDS MODE";
                    break;

                case (uint8_t)MAV_MODE_TEST1:
                    mode = "PASST MODE";
                    break;
                case (uint8_t)MAV_MODE_TEST2:
                    mode = "SEL PT MODE";
                    break;
#else
                case (uint8_t)MAV_MODE_AUTO:
                    mode = "AUTO MODE";
                    break;
                case (uint8_t)MAV_MODE_GUIDED:
                    mode = "GUIDED MODE";
                    break;

                case (uint8_t)MAV_MODE_TEST1:
                    mode = "TEST1 MODE";
                    break;
                case (uint8_t)MAV_MODE_TEST2:
                    mode = "TEST2 MODE";
                    break;
#endif
                case (uint8_t)MAV_MODE_READY:
                    mode = "READY MODE";
                    break;

                case (uint8_t)MAV_MODE_TEST3:
                    mode = "TEST3 MODE";
                    break;

                case (uint8_t)MAV_MODE_RC_TRAINING:
                    mode = "RC TRAINING MODE";
                    break;
                default:
                    mode = "UNINIT MODE";
                    break;
                }

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

                //qDebug() << "2 SYSTEM MODE:" << mode;

                modeAudio = " is now in " + mode;
            }
            currentVoltage = state.vbat/1000.0f;
            lpVoltage = filterVoltage(currentVoltage);
            if (startVoltage == 0) startVoltage = currentVoltage;
            timeRemaining = calculateTimeRemaining();
            if (!batteryRemainingEstimateEnabled) {
                chargeLevel = state.battery_remaining/10.0f;
            }
            //qDebug() << "Voltage: " << currentVoltage << " Chargelevel: " << getChargeLevel() << " Time remaining " << timeRemaining;
            emit batteryChanged(this, lpVoltage, getChargeLevel(), timeRemaining);
            emit voltageChanged(message.sysid, state.vbat/1000.0f);

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

            // COMMUNICATIONS DROP RATE
            emit dropRateChanged(this->getUASID(), state.packet_drop/1000.0f);


            //add for development
            //emit remoteControlRSSIChanged(state.packet_drop/1000.0f);

            //float en = state.packet_drop/1000.0f;
            //emit remoteControlChannelRawChanged(0, en);//MAVLINK_MSG_ID_RC_CHANNELS_RAW
            //emit remoteControlChannelScaledChanged(0, en/100.0f);//MAVLINK_MSG_ID_RC_CHANNELS_SCALED


            //qDebug() << __FILE__ << __LINE__ << "RCV LOSS: " << state.packet_drop;

            // AUDIO
            if (modechanged && statechanged) {
                // Output both messages
                audiostring += modeAudio + " and " + stateAudio;
            } else {
                // Output the one message
                audiostring += modeAudio + stateAudio;
            }
            if ((int)state.status == (int)MAV_STATE_CRITICAL || state.status == (int)MAV_STATE_EMERGENCY) {
                GAudioOutput::instance()->startEmergency();
            } else if (modechanged || statechanged) {
                GAudioOutput::instance()->stopEmergency();
                GAudioOutput::instance()->say(audiostring);
            }

            if (state.status == MAV_STATE_POWEROFF) {
                emit systemRemoved(this);
                emit systemRemoved();
            }
        }
        break;

#ifdef MAVLINK_ENABLED_PIXHAWK
        case MAVLINK_MSG_ID_CONTROL_STATUS: {
            mavlink_control_status_t status;
            mavlink_msg_control_status_decode(&message, &status);
            // Emit control status vector
            emit attitudeControlEnabled(static_cast<bool>(status.control_att));
            emit positionXYControlEnabled(static_cast<bool>(status.control_pos_xy));
            emit positionZControlEnabled(static_cast<bool>(status.control_pos_z));
            emit positionYawControlEnabled(static_cast<bool>(status.control_pos_yaw));

            // Emit localization status vector
            emit localizationChanged(this, status.position_fix);
            emit visionLocalizationChanged(this, status.vision_fix);
            emit gpsLocalizationChanged(this, status.gps_fix);
        }
        break;
#endif // PIXHAWK
        case MAVLINK_MSG_ID_RAW_IMU: {
            mavlink_raw_imu_t raw;
            mavlink_msg_raw_imu_decode(&message, &raw);
            quint64 time = getUnixTime(raw.usec);

            emit valueChanged(uasId, "accel x", "raw", static_cast<double>(raw.xacc), time);
            emit valueChanged(uasId, "accel y", "raw", static_cast<double>(raw.yacc), time);
            emit valueChanged(uasId, "accel z", "raw", static_cast<double>(raw.zacc), time);
            emit valueChanged(uasId, "gyro roll", "raw", static_cast<double>(raw.xgyro), time);
            emit valueChanged(uasId, "gyro pitch", "raw", static_cast<double>(raw.ygyro), time);
            emit valueChanged(uasId, "gyro yaw", "raw", static_cast<double>(raw.zgyro), time);
            emit valueChanged(uasId, "mag x", "raw", static_cast<double>(raw.xmag), time);
            emit valueChanged(uasId, "mag y", "raw", static_cast<double>(raw.ymag), time);
            emit valueChanged(uasId, "mag z", "raw", static_cast<double>(raw.zmag), time);
        }
        break;
        case MAVLINK_MSG_ID_SCALED_IMU: {
            mavlink_scaled_imu_t scaled;
            mavlink_msg_scaled_imu_decode(&message, &scaled);
            quint64 time = getUnixTime(scaled.usec);

            emit valueChanged(uasId, "accel x", "g", scaled.xacc/1000.0f, time);
            emit valueChanged(uasId, "accel y", "g", scaled.yacc/1000.0f, time);
            emit valueChanged(uasId, "accel z", "g", scaled.zacc/1000.0f, time);
            emit valueChanged(uasId, "gyro roll", "rad/s", scaled.xgyro/1000.0f, time);
            emit valueChanged(uasId, "gyro pitch", "rad/s", scaled.ygyro/1000.0f, time);
            emit valueChanged(uasId, "gyro yaw", "rad/s", scaled.zgyro/1000.0f, time);
            emit valueChanged(uasId, "mag x", "tesla", scaled.xmag/1000.0f, time);
            emit valueChanged(uasId, "mag y", "tesla", scaled.ymag/1000.0f, time);
            emit valueChanged(uasId, "mag z", "tesla", scaled.zmag/1000.0f, time);
        }
        break;
        case MAVLINK_MSG_ID_ATTITUDE:
            //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_attitude_t attitude;
            mavlink_msg_attitude_decode(&message, &attitude);
            quint64 time = getUnixTime(attitude.usec);
            roll = QGC::limitAngleToPMPIf(attitude.roll);
            pitch = QGC::limitAngleToPMPIf(attitude.pitch);
            yaw = QGC::limitAngleToPMPIf(attitude.yaw);
            emit valueChanged(uasId, "roll", "rad", roll, time);
            emit valueChanged(uasId, "pitch", "rad", pitch, time);
            emit valueChanged(uasId, "yaw", "rad", yaw, time);
            emit valueChanged(uasId, "rollspeed", "rad/s", attitude.rollspeed, time);
            emit valueChanged(uasId, "pitchspeed", "rad/s", attitude.pitchspeed, time);
            emit valueChanged(uasId, "yawspeed", "rad/s", attitude.yawspeed, time);

            // Emit in angles

            // Convert yaw angle to compass value
            // in 0 - 360 deg range
            float compass = (yaw/M_PI)*180.0+360.0f;
            while (compass > 360.0f) {
                compass -= 360.0f;
            }

            attitudeKnown = true;

            emit valueChanged(uasId, "roll deg", "deg", (roll/M_PI)*180.0, time);
            emit valueChanged(uasId, "pitch deg", "deg", (pitch/M_PI)*180.0, time);
            emit valueChanged(uasId, "heading deg", "deg", compass, time);
            emit valueChanged(uasId, "rollspeed d/s", "deg/s", (attitude.rollspeed/M_PI)*180.0, time);
            emit valueChanged(uasId, "pitchspeed d/s", "deg/s", (attitude.pitchspeed/M_PI)*180.0, time);
            emit valueChanged(uasId, "yawspeed d/s", "deg/s", (attitude.yawspeed/M_PI)*180.0, time);

            emit attitudeChanged(this, roll, pitch, yaw, time);
            emit attitudeSpeedChanged(uasId, attitude.rollspeed, attitude.pitchspeed, attitude.yawspeed, time);
        }
        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 valueChanged(uasId, "airspeed", "m/s", hud.airspeed, time);
            emit valueChanged(uasId, "groundspeed", "m/s", hud.groundspeed, time);
            emit valueChanged(uasId, "altitude", "m", hud.alt, time);
            emit valueChanged(uasId, "heading", "deg", hud.heading, time);
            emit valueChanged(uasId, "climbrate", "m/s", hud.climb, time);
            emit valueChanged(uasId, "throttle", "%", hud.throttle, time);
            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);
            //yaw = (hud.heading-180.0f/360.0f)*M_PI;
            //emit attitudeChanged(this, roll, pitch, yaw, getUnixTime());
            emit speedChanged(this, hud.airspeed, 0.0f, hud.climb, getUnixTime());
        }
        break;
        case MAVLINK_MSG_ID_NAV_CONTROLLER_OUTPUT: {
            mavlink_nav_controller_output_t nav;
            mavlink_msg_nav_controller_output_decode(&message, &nav);
            quint64 time = getUnixTime();
            // Update UI
            emit valueChanged(uasId, "nav roll", "deg", nav.nav_roll, time);
            emit valueChanged(uasId, "nav pitch", "deg", nav.nav_pitch, time);
            emit valueChanged(uasId, "nav bearing", "deg", nav.nav_bearing, time);
            emit valueChanged(uasId, "target bearing", "deg", nav.target_bearing, time);
            emit valueChanged(uasId, "wp dist", "m", nav.wp_dist, time);
            emit valueChanged(uasId, "alt err", "m", nav.alt_error, time);
            emit valueChanged(uasId, "airspeed err", "m/s", nav.alt_error, time);
            emit valueChanged(uasId, "xtrack err", "m", nav.xtrack_error, time);
        }
        break;
        case MAVLINK_MSG_ID_LOCAL_POSITION:
            //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_t pos;
            mavlink_msg_local_position_decode(&message, &pos);
            quint64 time = getUnixTime(pos.usec);
            localX = pos.x;
            localY = pos.y;
            localZ = pos.z;
            emit valueChanged(uasId, "x", "m", pos.x, time);
            emit valueChanged(uasId, "y", "m", pos.y, time);
            emit valueChanged(uasId, "z", "m", pos.z, time);
            emit valueChanged(uasId, "x speed", "m/s", pos.vx, time);
            emit valueChanged(uasId, "y speed", "m/s", pos.vy, time);
            emit valueChanged(uasId, "z speed", "m/s", pos.vz, time);
            emit localPositionChanged(this, pos.x, pos.y, pos.z, time);
            emit speedChanged(this, pos.vx, pos.vy, pos.vz, time);

            //                qDebug()<<"Local Position = "<<pos.x<<" - "<<pos.y<<" - "<<pos.z;
            //                qDebug()<<"Speed Local Position = "<<pos.vx<<" - "<<pos.vy<<" - "<<pos.vz;

            //emit attitudeChanged(this, pos.roll, pos.pitch, pos.yaw, time);
            // Set internal state
            if (!positionLock) {
                // If position was not locked before, notify positive
                GAudioOutput::instance()->notifyPositive();
            }
            positionLock = 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 = QGC::groundTimeUsecs()/1000;
            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 valueChanged(uasId, "latitude", "deg", latitude, time);
            emit valueChanged(uasId, "longitude", "deg", longitude, time);
            emit valueChanged(uasId, "altitude", "m", altitude, time);
            double totalSpeed = sqrt(speedX*speedX + speedY*speedY + speedZ*speedZ);
            emit valueChanged(uasId, "gps speed", "m/s", totalSpeed, time);
            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;
            //TODO fix this hack for forwarding of global position for patch antenna tracking
            forwardMessage(message);
        }
        break;
        case MAVLINK_MSG_ID_GLOBAL_POSITION: {
            mavlink_global_position_t pos;
            mavlink_msg_global_position_decode(&message, &pos);
            quint64 time = QGC::groundTimeUsecs()/1000;
            latitude = pos.lat;
            longitude = pos.lon;
            altitude = pos.alt;
            speedX = pos.vx;
            speedY = pos.vy;
            speedZ = pos.vz;
            emit valueChanged(uasId, "latitude", "deg", latitude, time);
            emit valueChanged(uasId, "longitude", "deg", longitude, time);
            emit valueChanged(uasId, "altitude", "m", altitude, time);
            double totalSpeed = sqrt(speedX*speedX + speedY*speedY + speedZ*speedZ);
            emit valueChanged(uasId, "gps speed", "m/s", totalSpeed, time);
            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;
            //TODO fix this hack for forwarding of global position for patch antenna tracking
            forwardMessage(message);
        }
        break;
        case MAVLINK_MSG_ID_GPS_RAW:
            //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_gps_raw_t pos;
            mavlink_msg_gps_raw_decode(&message, &pos);

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

            emit valueChanged(uasId, "latitude", "deg", pos.lat, time);
            emit valueChanged(uasId, "longitude", "deg", pos.lon, time);

            if (pos.fix_type > 0) {
                emit globalPositionChanged(this, pos.lat, pos.lon, pos.alt, time);
                emit valueChanged(uasId, "gps speed", "m/s", pos.v, time);
                latitude = pos.lat;
                longitude = pos.lon;
                altitude = pos.alt;
                positionLock = true;

                // Check for NaN
                int alt = pos.alt;
                if (alt != alt) {
                    alt = 0;
                    emit textMessageReceived(uasId, message.compid, 255, "GCS ERROR: RECEIVED NaN FOR ALTITUDE");
                }
                emit valueChanged(uasId, "altitude", "m", pos.alt, time);
                // Smaller than threshold and not NaN
                if (pos.v < 1000000 && pos.v == pos.v) {
                    emit valueChanged(uasId, "speed", "m/s", pos.v, 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(pos.v));
                }
            }
        }
        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.usec);
            quint64 time = getUnixTime();

            emit valueChanged(uasId, "latitude", "deg", pos.lat/(double)1E7, time);
            emit valueChanged(uasId, "longitude", "deg", pos.lon/(double)1E7, time);

            if (pos.fix_type > 0) {
                emit globalPositionChanged(this, pos.lat/(double)1E7, pos.lon/(double)1E7, pos.alt/1000.0, time);
                emit valueChanged(uasId, "gps speed", "m/s", pos.v, time);
                latitude = pos.lat/(double)1E7;
                longitude = pos.lon/(double)1E7;
                altitude = pos.alt/1000.0;
                positionLock = true;

                // Check for NaN
                int alt = pos.alt;
                if (alt != alt) {
                    alt = 0;
                    emit textMessageReceived(uasId, message.compid, 255, "GCS ERROR: RECEIVED NaN FOR ALTITUDE");
                }
                emit valueChanged(uasId, "altitude", "m", pos.alt/(double)1E3, time);
                // Smaller than threshold and not NaN
                if (pos.v < 1000000 && pos.v == pos.v) {
                    emit valueChanged(uasId, "speed", "m/s", pos.v, 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(pos.v));
                }
            }
        }
        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_LOCAL_ORIGIN_SET: {
            mavlink_gps_local_origin_set_t pos;
            mavlink_msg_gps_local_origin_set_decode(&message, &pos);
            // FIXME Emit to other components
        }
        break;
        case MAVLINK_MSG_ID_RAW_PRESSURE: {
            mavlink_raw_pressure_t pressure;
            mavlink_msg_raw_pressure_decode(&message, &pressure);
            quint64 time = this->getUnixTime(pressure.usec);
            emit valueChanged(uasId, "abs pressure", "raw", pressure.press_abs, time);
            emit valueChanged(uasId, "diff pressure 1", "raw", pressure.press_diff1, time);
            emit valueChanged(uasId, "diff pressure 2", "raw", pressure.press_diff2, time);
            emit valueChanged(uasId, "temperature", "raw", pressure.temperature, time);
        }
        break;

        //case MAVLINK_MSG_ID_SCALED_PRESSURE: {
            //mavlink_scaled_pressure_t pressure;
            //mavlink_msg_scaled_pressure_decode(&message, &pressure);
            //quint64 time = this->getUnixTime(pressure.usec);
            //emit valueChanged(uasId, "abs pressure", "hPa", pressure.press_abs, time);
            //emit valueChanged(uasId, "diff pressure", "hPa", pressure.press_diff, time);
            //emit valueChanged(uasId, "temperature", "C", pressure.temperature/100.0, time);
        //}
        //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((char*)value.param_id, MAVLINK_MSG_PARAM_VALUE_FIELD_PARAM_ID_LEN);
            QString parameterName = QString(bytes);
            int component = message.compid;
            float val = value.param_value;

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

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

            // Emit change
            emit parameterChanged(uasId, message.compid, parameterName, val);
            emit parameterChanged(uasId, message.compid, value.param_count, value.param_index, parameterName, val);
        }
        break;
        case MAVLINK_MSG_ID_ACTION_ACK:
            mavlink_action_ack_t ack;
            mavlink_msg_action_ack_decode(&message, &ack);
            if (ack.result == 1) {
                emit textMessageReceived(uasId, message.compid, 0, tr("SUCCESS: Executed action: %1").arg(ack.action));
            } else {
                emit textMessageReceived(uasId, message.compid, 0, tr("FAILURE: Rejected action: %1").arg(ack.action));
            }
            break;
        case MAVLINK_MSG_ID_DEBUG:
            emit valueChanged(uasId, QString("debug ") + QString::number(mavlink_msg_debug_get_ind(&message)), "raw", mavlink_msg_debug_get_value(&message), MG::TIME::getGroundTimeNow());
            break;
        case MAVLINK_MSG_ID_ATTITUDE_CONTROLLER_OUTPUT: {
            mavlink_attitude_controller_output_t out;
            mavlink_msg_attitude_controller_output_decode(&message, &out);
            quint64 time = MG::TIME::getGroundTimeNowUsecs();
            emit attitudeThrustSetPointChanged(this, out.roll/127.0f, out.pitch/127.0f, out.yaw/127.0f, (uint8_t)out.thrust, time);
            emit valueChanged(uasId, "att control roll", "raw", out.roll, time/1000.0f);
            emit valueChanged(uasId, "att control pitch", "raw", out.pitch, time/1000.0f);
            emit valueChanged(uasId, "att control yaw", "raw", out.yaw, time/1000.0f);
        }
        break;
        case MAVLINK_MSG_ID_POSITION_CONTROLLER_OUTPUT: {
            mavlink_position_controller_output_t out;
            mavlink_msg_position_controller_output_decode(&message, &out);
            quint64 time = MG::TIME::getGroundTimeNow();
            //emit positionSetPointsChanged(uasId, out.x/127.0f, out.y/127.0f, out.z/127.0f, out.yaw, time);
            emit valueChanged(uasId, "pos control x", "raw", out.x, time);
            emit valueChanged(uasId, "pos control y", "raw", out.y, time);
            emit valueChanged(uasId, "pos control z", "raw", out.z, time);
        }
        break;
        case MAVLINK_MSG_ID_WAYPOINT_COUNT: {
            mavlink_waypoint_count_t wpc;
            mavlink_msg_waypoint_count_decode(&message, &wpc);
            if (wpc.target_system == mavlink->getSystemId() && wpc.target_component == mavlink->getComponentId()) {
                waypointManager.handleWaypointCount(message.sysid, message.compid, wpc.count);
            }
        }
        break;

        case MAVLINK_MSG_ID_WAYPOINT: {
            mavlink_waypoint_t wp;
            mavlink_msg_waypoint_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() && wp.target_component == mavlink->getComponentId()) {
                waypointManager.handleWaypoint(message.sysid, message.compid, &wp);
            }
        }
        break;

        case MAVLINK_MSG_ID_WAYPOINT_ACK: {
            mavlink_waypoint_ack_t wpa;
            mavlink_msg_waypoint_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_WAYPOINT_REQUEST: {
            mavlink_waypoint_request_t wpr;
            mavlink_msg_waypoint_request_decode(&message, &wpr);
            if(wpr.target_system == mavlink->getSystemId() && wpr.target_component == mavlink->getComponentId()) {
                waypointManager.handleWaypointRequest(message.sysid, message.compid, &wpr);
            }
        }
        break;

        case MAVLINK_MSG_ID_WAYPOINT_REACHED: {
            mavlink_waypoint_reached_t wpr;
            mavlink_msg_waypoint_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_WAYPOINT_CURRENT: {
            mavlink_waypoint_current_t wpc;
            mavlink_msg_waypoint_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_SERVO_OUTPUT_RAW: {
            mavlink_servo_output_raw_t servos;
            mavlink_msg_servo_output_raw_decode(&message, &servos);
            quint64 time = getUnixTime(0);
            emit valueChanged(uasId, "servo #1", "us", servos.servo1_raw, time);
            emit valueChanged(uasId, "servo #2", "us", servos.servo2_raw, time);
            emit valueChanged(uasId, "servo #3", "us", servos.servo3_raw, time);
            emit valueChanged(uasId, "servo #4", "us", servos.servo4_raw, time);
            emit valueChanged(uasId, "servo #5", "us", servos.servo5_raw, time);
            emit valueChanged(uasId, "servo #6", "us", servos.servo6_raw, time);
            emit valueChanged(uasId, "servo #7", "us", servos.servo7_raw, time);
            emit valueChanged(uasId, "servo #8", "us", servos.servo8_raw, time);
        }
        break;
        case MAVLINK_MSG_ID_STATUSTEXT: {
            QByteArray b;
            b.resize(MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN);
            mavlink_msg_statustext_get_text(&message, (int8_t*)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;
            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;

            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)) {
                image.loadFromData(imageRecBuffer);
                emit imageReady(this);
                // Restart statemachine
                imagePacketsArrived = 0;

                //this->requestImage();
                //qDebug() << "SENDING REQUEST TO GET NEW IMAGE FROM SYSTEM" << uasId;
            }
        }
        break;
#endif
        case MAVLINK_MSG_ID_DEBUG_VECT: {
            mavlink_debug_vect_t vect;
            mavlink_msg_debug_vect_decode(&message, &vect);
            QString str((const char*)vect.name);
            quint64 time = getUnixTime(vect.usec);
            emit valueChanged(uasId, str+".x", "raw", vect.x, time);
            emit valueChanged(uasId, str+".y", "raw", vect.y, time);
            emit valueChanged(uasId, str+".z", "raw", vect.z, time);
        }
        break;
        //#ifdef MAVLINK_ENABLED_PIXHAWK
        //            case MAVLINK_MSG_ID_POINT_OF_INTEREST:
        //            {
        //                mavlink_point_of_interest_t poi;
        //                mavlink_msg_point_of_interest_decode(&message, &poi);
        //                emit poiFound(this, poi.type, poi.color, QString((QChar*)poi.name, MAVLINK_MSG_POINT_OF_INTEREST_FIELD_NAME_LEN), poi.x, poi.y, poi.z);
        //            }
        //            break;
        //            case MAVLINK_MSG_ID_POINT_OF_INTEREST_CONNECTION:
        //            {
        //                mavlink_point_of_interest_connection_t poi;
        //                mavlink_msg_point_of_interest_connection_decode(&message, &poi);
        //                emit poiConnectionFound(this, poi.type, poi.color, QString((QChar*)poi.name, MAVLINK_MSG_POINT_OF_INTEREST_CONNECTION_FIELD_NAME_LEN), poi.x1, poi.y1, poi.z1, poi.x2, poi.y2, poi.z2);
        //            }
        //            break;
        //#endif
#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 = MG::TIME::getGroundTimeNow();
            emit valueChanged(uasId, "b_f[0]", "raw", bias.accel_0, time);
            emit valueChanged(uasId, "b_f[1]", "raw", bias.accel_1, time);
            emit valueChanged(uasId, "b_f[2]", "raw", bias.accel_2, time);
            emit valueChanged(uasId, "b_w[0]", "raw", bias.gyro_0, time);
            emit valueChanged(uasId, "b_w[1]", "raw", bias.gyro_1, time);
            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<float> aileron;
            QVector<float> elevator;
            QVector<float> rudder;
            QVector<float> gyro;
            QVector<float> pitch;
            QVector<float> 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_LOCAL_POSITION_SETPOINT_SET:
            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 the communication 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;
        }
    }
}

void UAS::setHomePosition(double lat, double lon, double alt)
{
    // Send new home position to UAS
    mavlink_gps_set_global_origin_t home;
    home.target_system = uasId;
    home.target_component = 0; // ALL components
    home.latitude = lat*1E7;
    home.longitude = lon*1E7;
    home.altitude = alt*1000;
    qDebug() << "lat:" << home.latitude << " lon:" << home.longitude;
    mavlink_message_t msg;
    mavlink_msg_gps_set_global_origin_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &home);
    sendMessage(msg);
}

void UAS::setLocalOriginAtCurrentGPSPosition()
{
    bool result = false;
    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_action_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), 0, MAV_ACTION_SET_ORIGIN);
        // Send message twice to increase chance that it reaches its goal
        sendMessage(msg);
        // Wait 5 ms
        MG::SLEEP::usleep(5000);
        // Send again
        sendMessage(msg);
        result = true;
    }
}

void UAS::setLocalPositionSetpoint(float x, float y, float z, float yaw)
{
#ifdef MAVLINK_ENABLED_PIXHAWK
    mavlink_message_t msg;
    mavlink_msg_position_control_setpoint_set_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 0, 0, x, y, z, yaw);
    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_position_control_offset_set_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;
    mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_ACTION_CALIBRATE_RC);
    sendMessage(msg);
}

void UAS::startDataRecording()
{
    mavlink_message_t msg;
    mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_ACTION_REC_START);
    sendMessage(msg);
}

void UAS::pauseDataRecording()
{
    mavlink_message_t msg;
    mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_ACTION_REC_PAUSE);
    sendMessage(msg);
}

void UAS::stopDataRecording()
{
    mavlink_message_t msg;
    mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_ACTION_REC_STOP);
    sendMessage(msg);
}

void UAS::startMagnetometerCalibration()
{
    mavlink_message_t msg;
    mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_ACTION_CALIBRATE_MAG);
    sendMessage(msg);
}

void UAS::startGyroscopeCalibration()
{
    mavlink_message_t msg;
    mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_ACTION_CALIBRATE_GYRO);
    sendMessage(msg);
}

void UAS::startPressureCalibration()
{
    mavlink_message_t msg;
    mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, MAV_COMP_ID_IMU, MAV_ACTION_CALIBRATE_PRESSURE);
    sendMessage(msg);
}

quint64 UAS::getUnixTime(quint64 time)
{
    if (time == 0) {
        return MG::TIME::getGroundTimeNow();
    }
    // 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
    {
        if (onboardTimeOffset == 0) {
            onboardTimeOffset = MG::TIME::getGroundTimeNow() - 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;
    }
}

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)
{
    if ((uint8_t)mode >= MAV_MODE_LOCKED && (uint8_t)mode <= MAV_MODE_RC_TRAINING) {
        //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);
        sendMessage(msg);
        qDebug() << "SENDING REQUEST TO SET MODE TO SYSTEM" << uasId << ", REQUEST TO SET MODE " << (uint8_t)mode;
    } else {
        qDebug() << "uas Mode not assign: " << 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);
    mavlink_finalize_message_chan(&message, mavlink->getSystemId(), mavlink->getComponentId(), link->getId(), message.len);
    // 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)
{
    switch (mode) {
    case MAV_NAV_GROUNDED:
        return QString("GROUNDED");
        break;
    case MAV_NAV_HOLD:
        return QString("HOLD");
        break;
    case MAV_NAV_LANDING:
        return QString("LANDING");
        break;
    case MAV_NAV_LIFTOFF:
        return QString("LIFTOFF");
        break;
    case MAV_NAV_LOITER:
        return QString("LOITER");
        break;
    case MAV_NAV_LOST:
        return QString("LOST");
        break;
    case MAV_NAV_RETURNING:
        return QString("RETURNING");
        break;
    case MAV_NAV_VECTOR:
        return QString("VECTOR");
        break;
    case MAV_NAV_WAYPOINT:
        return QString("WAYPOINT");
        break;
    default:
        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()
{
    return image;
}

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

    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);
    } else if (QGC::groundTimeMilliseconds() - imageStart >= 1000) {
        // handshake happened more than 1 second ago, packets should have arrived by now
        // maybe we missed some packets (dropped along the way)
        image.loadFromData(imageRecBuffer);
        emit imageReady(this);
        // Restart statemachine
        imagePacketsArrived = 0;
    }
#endif
    // default else, wait?
}


/* 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);
    // Send message twice to increase chance of reception
    sendMessage(msg);
}

void UAS::writeParametersToStorage()
{
    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, (uint8_t)MAV_ACTION_STORAGE_WRITE);
    //mavlink_msg_action_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, this->getUASID(),(uint8_t)MAV_ACTION_STORAGE_WRITE);
    sendMessage(msg);
}

void UAS::readParametersFromStorage()
{
    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,(uint8_t)MAV_ACTION_STORAGE_READ);
    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);
    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);
    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);
    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);
    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);
    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);
    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 float value)
{
    if (!id.isNull()) {
        mavlink_message_t msg;
        mavlink_param_set_t p;
        p.param_value = value;
        p.target_system = (uint8_t)uasId;
        p.target_component = (uint8_t)component;

        // 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 parameter)
{
    mavlink_message_t msg;
    mavlink_param_request_read_t read;
    read.param_index = parameter;
    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" << 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_FIXED_WING:
            airframe = QGC_AIRFRAME_EASYSTAR;
            break;
        case MAV_QUADROTOR:
            airframe = QGC_AIRFRAME_MIKROKOPTER;
            break;
        }
    }
    emit systemSpecsChanged(uasId);
}

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

void UAS::executeCommand(MAV_CMD command)
{
    mavlink_message_t msg;
    mavlink_command_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.target_system = uasId;
    cmd.target_component = 0;
    mavlink_msg_command_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_t cmd;
    cmd.command = (uint8_t)command;
    cmd.confirmation = confirmation;
    cmd.param1 = param1;
    cmd.param2 = param2;
    cmd.param3 = param3;
    cmd.param4 = param4;
    cmd.target_system = uasId;
    cmd.target_component = component;
    mavlink_msg_command_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &cmd);
    sendMessage(msg);
}

/**
 * Sets an action
 *
 **/
void UAS::setAction(MAV_ACTION action)
{
    mavlink_message_t msg;
    mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), 0, action);
    // Send message twice to increase chance that it reaches its goal
    sendMessage(msg);
    sendMessage(msg);
}

/**
 * Launches the system
 *
 **/
void UAS::launch()
{
    mavlink_message_t msg;
    // TODO Replace MG System ID with static function call and allow to change ID in GUI
    mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), MAV_COMP_ID_IMU, (uint8_t)MAV_ACTION_TAKEOFF);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
}

/**
 * Depending on the UAS, this might make the rotors of a helicopter spinning
 *
 **/
void UAS::enable_motors()
{
    mavlink_message_t msg;
    // TODO Replace MG System ID with static function call and allow to change ID in GUI
    mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), MAV_COMP_ID_IMU, (uint8_t)MAV_ACTION_MOTORS_START);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
}

/**
 * @warning Depending on the UAS, this might completely stop all motors.
 *
 **/
void UAS::disable_motors()
{
    mavlink_message_t msg;
    // TODO Replace MG System ID with static function call and allow to change ID in GUI
    mavlink_msg_action_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, this->getUASID(), MAV_COMP_ID_IMU, (uint8_t)MAV_ACTION_MOTORS_STOP);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    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(mode == (int)MAV_MODE_MANUAL) {
        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::requestWaypoints()
{
//    mavlink_message_t msg;
//    mavlink_msg_waypoint_request_list_pack(mavlink->getSystemId(), mavlink->getComponentId(), &msg, uasId, 25);
//    // Send message twice to increase chance of reception
//    sendMessage(msg);
    waypointManager.requestWaypoints();
    qDebug() << "UAS Request WPs";
}

void UAS::setWaypoint(Waypoint* wp)
{
//    mavlink_message_t msg;
//    mavlink_waypoint_set_t set;
//    set.id = wp->id;
//    //QString name = wp->name;
//    // FIXME Check if this works properly
//    //name.truncate(MAVLINK_MSG_WAYPOINT_SET_FIELD_NAME_LEN);
//    //strcpy((char*)set.name, name.toStdString().c_str());
//    set.autocontinue = wp->autocontinue;
//    set.target_component = 25; // FIXME
//    set.target_system = uasId;
//    set.active = wp->current;
//    set.x = wp->x;
//    set.y = wp->y;
//    set.z = wp->z;
//    set.yaw = wp->yaw;
//    mavlink_msg_waypoint_set_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &set);
//    // Send message twice to increase chance of reception
//    sendMessage(msg);
}

void UAS::setWaypointActive(int id)
{
//    mavlink_message_t msg;
//    mavlink_waypoint_set_active_t active;
//    active.id = id;
//    active.target_system = uasId;
//    active.target_component = 25; // FIXME
//    mavlink_msg_waypoint_set_active_encode(mavlink->getSystemId(), mavlink->getComponentId(), &msg, &active);
//    // Send message twice to increase chance of reception
//    sendMessage(msg);
//    sendMessage(msg);
//    // TODO This should be not directly emitted, but rather being fed back from the UAS
//    emit waypointSelected(getUASID(), id);
}

void UAS::clearWaypointList()
{
//    mavlink_message_t msg;
//    // FIXME
//    mavlink_waypoint_clear_list_t clist;
//    clist.target_system = uasId;
//    clist.target_component = 25;  // FIXME
//    mavlink_msg_waypoint_clear_list_encode(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, &clist);
//    sendMessage(msg);
//    qDebug() << "UAS clears Waypoints!";
}*/


void UAS::halt()
{

    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_HALT);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);

}

void UAS::go()
{
    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_CONTINUE);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
}

/** Order the robot to return home / to land on the runway **/
void UAS::home()
{
    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_RETURN);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
}

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

    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_LAND);
    // Send message twice to increase chance of reception
    sendMessage(msg);
    sendMessage(msg);
}

/**
 * All 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()
{
    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;
}

void UAS::startHil()
{

    //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_START_HILSIM);
    //// Send message twice to increase chance of reception
    //sendMessage(msg);
    //sendMessage(msg);

}

void UAS::stopHil()
{

    //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_STOP_HILSIM);
    //// Send message twice to increase chance of reception
    //sendMessage(msg);
    //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;
        // 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_SHUTDOWN);
        // Send message twice to increase chance of reception
        sendMessage(msg);
        sendMessage(msg);

        result = true;
    }
}

void UAS::setTargetPosition(float x, float y, float z, float yaw)
{
    mavlink_message_t msg;
    mavlink_msg_position_target_pack(MG::SYSTEM::ID, MG::SYSTEM::COMPID, &msg, x, y, z, yaw);

    // Send message twice to increase chance of reception
    sendMessage(msg);
    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;
}

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(2000, GAudioOutput::instance(), SLOT(startEmergency()));
        lowBattAlarm = true;
    }
}

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