UAS.h 39.8 KB
Newer Older
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34
/*=====================================================================

QGroundControl Open Source Ground Control Station

(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>

This file is part of the QGROUNDCONTROL project

    QGROUNDCONTROL is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation, either version 3 of the License, or
    (at your option) any later version.

    QGROUNDCONTROL is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
    GNU General Public License for more details.

    You should have received a copy of the GNU General Public License
    along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.

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

/**
 * @file
 *   @brief Definition of Unmanned Aerial Vehicle object
 *
 *   @author Lorenz Meier <mavteam@student.ethz.ch>
 *
 */

#ifndef _UAS_H_
#define _UAS_H_

35
#include <QThread>
36 37 38 39 40 41
#include "UASInterface.h"
#include <MAVLinkProtocol.h>
#include <QVector3D>
#include "QGCMAVLink.h"
#include "QGCHilLink.h"
#include "QGCFlightGearLink.h"
42
#include "QGCJSBSimLink.h"
43
#include "QGCXPlaneLink.h"
44
#include "QGCUASParamManager.h"
45
#include "QGCUASFileManager.h"
46

tstellanova's avatar
tstellanova committed
47

48 49 50 51 52 53 54 55 56 57 58 59
/**
 * @brief A generic MAVLINK-connected MAV/UAV
 *
 * This class represents one vehicle. It can be used like the real vehicle, e.g. a call to halt()
 * will automatically send the appropriate messages to the vehicle. The vehicle state will also be
 * automatically updated by the comm architecture, so when writing code to e.g. control the vehicle
 * no knowledge of the communication infrastructure is needed.
 */
class UAS : public UASInterface
{
    Q_OBJECT
public:
60
    UAS(MAVLinkProtocol* protocol, QThread* thread, int id = 0);
61 62
    ~UAS();

63 64
    float lipoFull;  ///< 100% charged voltage
    float lipoEmpty; ///< Discharged voltage
65 66 67 68 69 70 71 72 73 74

    /* MANAGEMENT */

    /** @brief The name of the robot */
    QString getUASName(void) const;
    /** @brief Get short state */
    const QString& getShortState() const;
    /** @brief Get short mode */
    const QString& getShortMode() const;
    /** @brief Translate from mode id to text */
75
    static QString getShortModeTextFor(uint8_t base_mode, uint32_t custom_mode, int autopilot);
76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96
    /** @brief Translate from mode id to audio text */
    static QString getAudioModeTextFor(int id);
    /** @brief Get the unique system id */
    int getUASID() const;
    /** @brief Get the airframe */
    int getAirframe() const
    {
        return airframe;
    }
    /** @brief Get the components */
    QMap<int, QString> getComponents();

    /** @brief The time interval the robot is switched on */
    quint64 getUptime() const;
    /** @brief Get the status flag for the communication */
    int getCommunicationStatus() const;
    /** @brief Add one measurement and get low-passed voltage */
    float filterVoltage(float value) const;
    /** @brief Get the links associated with this robot */
    QList<LinkInterface*>* getLinks();

97 98 99 100 101
    Q_PROPERTY(double localX READ getLocalX WRITE setLocalX NOTIFY localXChanged)
    Q_PROPERTY(double localY READ getLocalY WRITE setLocalY NOTIFY localYChanged)
    Q_PROPERTY(double localZ READ getLocalZ WRITE setLocalZ NOTIFY localZChanged)
    Q_PROPERTY(double latitude READ getLatitude WRITE setLatitude NOTIFY latitudeChanged)
    Q_PROPERTY(double longitude READ getLongitude WRITE setLongitude NOTIFY longitudeChanged)
102
    Q_PROPERTY(double satelliteCount READ getSatelliteCount WRITE setSatelliteCount NOTIFY satelliteCountChanged)
103 104
    Q_PROPERTY(bool isLocalPositionKnown READ localPositionKnown)
    Q_PROPERTY(bool isGlobalPositionKnown READ globalPositionKnown)
105 106 107
    Q_PROPERTY(double roll READ getRoll WRITE setRoll NOTIFY rollChanged)
    Q_PROPERTY(double pitch READ getPitch WRITE setPitch NOTIFY pitchChanged)
    Q_PROPERTY(double yaw READ getYaw WRITE setYaw NOTIFY yawChanged)
108
    Q_PROPERTY(double distToWaypoint READ getDistToWaypoint WRITE setDistToWaypoint NOTIFY distToWaypointChanged)
109
    Q_PROPERTY(double airSpeed READ getGroundSpeed WRITE setGroundSpeed NOTIFY airSpeedChanged)
110
    Q_PROPERTY(double groundSpeed READ getGroundSpeed WRITE setGroundSpeed NOTIFY groundSpeedChanged)
111 112
    Q_PROPERTY(double bearingToWaypoint READ getBearingToWaypoint WRITE setBearingToWaypoint NOTIFY bearingToWaypointChanged)
    Q_PROPERTY(double altitudeAMSL READ getAltitudeAMSL WRITE setAltitudeAMSL NOTIFY altitudeAMSLChanged)
113 114
    Q_PROPERTY(double altitudeAMSLFT READ getAltitudeAMSLFT NOTIFY altitudeAMSLFTChanged)
    Q_PROPERTY(double altitudeWGS84 READ getAltitudeWGS84 WRITE setAltitudeWGS84 NOTIFY altitudeWGS84Changed)
115
    Q_PROPERTY(double altitudeRelative READ getAltitudeRelative WRITE setAltitudeRelative NOTIFY altitudeRelativeChanged)
116 117 118 119 120 121 122 123 124 125 126

    void setGroundSpeed(double val)
    {
        groundSpeed = val;
        emit groundSpeedChanged(val,"groundSpeed");
        emit valueChanged(this->uasId,"groundSpeed","m/s",QVariant(val),getUnixTime());
    }
    double getGroundSpeed() const
    {
        return groundSpeed;
    }
127

128 129 130 131 132 133 134 135 136 137 138
    void setAirSpeed(double val)
    {
        airSpeed = val;
        emit airSpeedChanged(val,"airSpeed");
        emit valueChanged(this->uasId,"airSpeed","m/s",QVariant(val),getUnixTime());
    }

    double getAirSpeed() const
    {
        return airSpeed;
    }
139 140 141 142 143

    void setLocalX(double val)
    {
        localX = val;
        emit localXChanged(val,"localX");
144
        emit valueChanged(this->uasId,"localX","m",QVariant(val),getUnixTime());
145
    }
146

147 148 149 150
    double getLocalX() const
    {
        return localX;
    }
151 152 153 154 155

    void setLocalY(double val)
    {
        localY = val;
        emit localYChanged(val,"localY");
156
        emit valueChanged(this->uasId,"localY","m",QVariant(val),getUnixTime());
157
    }
158 159 160 161
    double getLocalY() const
    {
        return localY;
    }
162 163 164 165 166

    void setLocalZ(double val)
    {
        localZ = val;
        emit localZChanged(val,"localZ");
167
        emit valueChanged(this->uasId,"localZ","m",QVariant(val),getUnixTime());
168
    }
169 170 171 172
    double getLocalZ() const
    {
        return localZ;
    }
173 174 175 176 177

    void setLatitude(double val)
    {
        latitude = val;
        emit latitudeChanged(val,"latitude");
178
        emit valueChanged(this->uasId,"latitude","deg",QVariant(val),getUnixTime());
179
    }
180

181 182 183 184
    double getLatitude() const
    {
        return latitude;
    }
185 186 187 188 189

    void setLongitude(double val)
    {
        longitude = val;
        emit longitudeChanged(val,"longitude");
190
        emit valueChanged(this->uasId,"longitude","deg",QVariant(val),getUnixTime());
191
    }
192

193 194 195 196
    double getLongitude() const
    {
        return longitude;
    }
197

198
    void setAltitudeAMSL(double val)
199
    {
200 201
        altitudeAMSL = val;
        emit altitudeAMSLChanged(val, "altitudeAMSL");
202 203 204 205
        emit valueChanged(this->uasId,"altitudeAMSL","m",QVariant(altitudeAMSL),getUnixTime());
        altitudeAMSLFT = 3.28084 * altitudeAMSL;
        emit altitudeAMSLFTChanged(val, "altitudeAMSLFT");
        emit valueChanged(this->uasId,"altitudeAMSLFT","m",QVariant(altitudeAMSLFT),getUnixTime());
206 207
    }

208
    double getAltitudeAMSL() const
209
    {
210 211 212
        return altitudeAMSL;
    }

213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230
    double getAltitudeAMSLFT() const
    {
        return altitudeAMSLFT;
    }

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

    double getAltitudeWGS84() const
    {
        return altitudeWGS84;
    }


231 232 233 234 235 236 237 238 239 240
    void setAltitudeRelative(double val)
    {
        altitudeRelative = val;
        emit altitudeRelativeChanged(val, "altitudeRelative");
        emit valueChanged(this->uasId,"altitudeRelative","m",QVariant(val),getUnixTime());
    }

    double getAltitudeRelative() const
    {
        return altitudeRelative;
241
    }
242 243 244 245 246

    void setSatelliteCount(double val)
    {
        satelliteCount = val;
        emit satelliteCountChanged(val,"satelliteCount");
247
        emit valueChanged(this->uasId,"satelliteCount","",QVariant(val),getUnixTime());
248 249 250 251 252 253 254
    }

    double getSatelliteCount() const
    {
        return satelliteCount;
    }

255 256 257 258
    virtual bool localPositionKnown() const
    {
        return isLocalPositionKnown;
    }
259

260 261 262 263 264
    virtual bool globalPositionKnown() const
    {
        return isGlobalPositionKnown;
    }

265 266 267 268
    void setDistToWaypoint(double val)
    {
        distToWaypoint = val;
        emit distToWaypointChanged(val,"distToWaypoint");
269
        emit valueChanged(this->uasId,"distToWaypoint","m",QVariant(val),getUnixTime());
270 271 272 273 274 275 276
    }

    double getDistToWaypoint() const
    {
        return distToWaypoint;
    }

277 278 279 280
    void setBearingToWaypoint(double val)
    {
        bearingToWaypoint = val;
        emit bearingToWaypointChanged(val,"bearingToWaypoint");
281
        emit valueChanged(this->uasId,"bearingToWaypoint","deg",QVariant(val),getUnixTime());
282 283 284 285 286 287 288 289
    }

    double getBearingToWaypoint() const
    {
        return bearingToWaypoint;
    }


290 291 292 293 294 295
    void setRoll(double val)
    {
        roll = val;
        emit rollChanged(val,"roll");
    }

296 297 298 299
    double getRoll() const
    {
        return roll;
    }
300 301 302 303 304 305 306

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

307 308 309 310
    double getPitch() const
    {
        return pitch;
    }
311 312 313 314 315 316 317

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

318 319 320 321
    double getYaw() const
    {
        return yaw;
    }
322

323 324 325 326 327 328 329 330 331 332 333
    bool getSelected() const;
    QVector3D getNedPosGlobalOffset() const
    {
        return nedPosGlobalOffset;
    }

    QVector3D getNedAttGlobalOffset() const
    {
        return nedAttGlobalOffset;
    }

334 335 336
    bool isRotaryWing();
    bool isFixedWing();

337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 368 369 370 371 372 373 374 375 376 377 378 379 380 381 382 383 384 385 386 387 388 389 390 391 392 393 394 395 396
#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
    px::GLOverlay getOverlay()
    {
        QMutexLocker locker(&overlayMutex);
        return overlay;
    }

    px::GLOverlay getOverlay(qreal& receivedTimestamp)
    {
        receivedTimestamp = receivedOverlayTimestamp;
        QMutexLocker locker(&overlayMutex);
        return overlay;
    }

    px::ObstacleList getObstacleList() {
        QMutexLocker locker(&obstacleListMutex);
        return obstacleList;
    }

    px::ObstacleList getObstacleList(qreal& receivedTimestamp) {
        receivedTimestamp = receivedObstacleListTimestamp;
        QMutexLocker locker(&obstacleListMutex);
        return obstacleList;
    }

    px::Path getPath() {
        QMutexLocker locker(&pathMutex);
        return path;
    }

    px::Path getPath(qreal& receivedTimestamp) {
        receivedTimestamp = receivedPathTimestamp;
        QMutexLocker locker(&pathMutex);
        return path;
    }

    px::PointCloudXYZRGB getPointCloud() {
        QMutexLocker locker(&pointCloudMutex);
        return pointCloud;
    }

    px::PointCloudXYZRGB getPointCloud(qreal& receivedTimestamp) {
        receivedTimestamp = receivedPointCloudTimestamp;
        QMutexLocker locker(&pointCloudMutex);
        return pointCloud;
    }

    px::RGBDImage getRGBDImage() {
        QMutexLocker locker(&rgbdImageMutex);
        return rgbdImage;
    }

    px::RGBDImage getRGBDImage(qreal& receivedTimestamp) {
        receivedTimestamp = receivedRGBDImageTimestamp;
        QMutexLocker locker(&rgbdImageMutex);
        return rgbdImage;
    }
#endif

    friend class UASWaypointManager;
397
    friend class QGCUASFileManager;
398 399

protected: //COMMENTS FOR TEST UNIT
400
    /// LINK ID AND STATUS
401
    int uasId;                    ///< Unique system ID
402
    QMap<int, QString> components;///< IDs and names of all detected onboard components
403 404 405
    QList<LinkInterface*>* links; ///< List of links this UAS can be reached by
    QList<int> unknownPackets;    ///< Packet IDs which are unknown and have been received
    MAVLinkProtocol* mavlink;     ///< Reference to the MAVLink instance
406 407 408 409
    CommStatus commStatus;        ///< Communication status
    float receiveDropRate;        ///< Percentage of packets that were dropped on the MAV's receiving link (from GCS and other MAVs)
    float sendDropRate;           ///< Percentage of packets that were not received from the MAV by the GCS
    quint64 lastHeartbeat;        ///< Time of the last heartbeat message
410
    QTimer statusTimeout;       ///< Timer for various status timeouts
411

412 413 414 415 416 417
    /// BASIC UAS TYPE, NAME AND STATE
    QString name;                 ///< Human-friendly name of the vehicle, e.g. bravo
    unsigned char type;           ///< UAS type (from type enum)
    int airframe;                 ///< The airframe type
    int autopilot;                ///< Type of the Autopilot: -1: None, 0: Generic, 1: PIXHAWK, 2: SLUGS, 3: Ardupilot (up to 15 types), defined in MAV_AUTOPILOT_TYPE ENUM
    bool systemIsArmed;           ///< If the system is armed
418
    uint8_t base_mode;                 ///< The current mode of the MAV
419 420 421 422 423 424
    uint32_t custom_mode;         ///< The current mode of the MAV
    int status;                   ///< The current status of the MAV
    QString shortModeText;        ///< Short textual mode description
    QString shortStateText;       ///< Short textual state description

    /// OUTPUT
425 426 427 428 429 430 431
    QList<double> actuatorValues;
    QList<QString> actuatorNames;
    QList<double> motorValues;
    QList<QString> motorNames;
    double thrustSum;           ///< Sum of forward/up thrust of all thrust actuators, in Newtons
    double thrustMax;           ///< Maximum forward/up thrust of this vehicle, in Newtons

432 433 434 435
    // dongfang: This looks like a candidate for being moved off to a separate class.
    /// BATTERY / ENERGY
    BatteryType batteryType;    ///< The battery type
    int cells;                  ///< Number of cells
436 437 438 439 440 441 442 443 444 445
    float fullVoltage;          ///< Voltage of the fully charged battery (100%)
    float emptyVoltage;         ///< Voltage of the empty battery (0%)
    float startVoltage;         ///< Voltage at system start
    float tickVoltage;          ///< Voltage where 0.1 V ticks are told
    float lastTickVoltageValue; ///< The last voltage where a tick was announced
    float tickLowpassVoltage;   ///< Lowpass-filtered voltage for the tick announcement
    float warnVoltage;          ///< Voltage where QGC will start to warn about low battery
    float warnLevelPercent;     ///< Warning level, in percent
    double currentVoltage;      ///< Voltage currently measured
    float lpVoltage;            ///< Low-pass filtered voltage
dongfang's avatar
dongfang committed
446
    double currentCurrent;      ///< Battery current currently measured
447 448 449
    bool batteryRemainingEstimateEnabled; ///< If the estimate is enabled, QGC will try to estimate the remaining battery life
    float chargeLevel;          ///< Charge level of battery, in percent
    int timeRemaining;          ///< Remaining time calculated based on previous and current
450 451 452 453 454
    bool lowBattAlarm;          ///< Switch if battery is low


    /// TIMEKEEPING
    quint64 startTime;            ///< The time the UAS was switched on
455 456
    quint64 onboardTimeOffset;

457
    /// MANUAL CONTROL
458 459 460 461 462 463 464 465 466
    bool controlRollManual;     ///< status flag, true if roll is controlled manually
    bool controlPitchManual;    ///< status flag, true if pitch is controlled manually
    bool controlYawManual;      ///< status flag, true if yaw is controlled manually
    bool controlThrustManual;   ///< status flag, true if thrust is controlled manually

    double manualRollAngle;     ///< Roll angle set by human pilot (radians)
    double manualPitchAngle;    ///< Pitch angle set by human pilot (radians)
    double manualYawAngle;      ///< Yaw angle set by human pilot (radians)
    double manualThrust;        ///< Thrust set by human pilot (radians)
467 468

    /// POSITION
469
    bool positionLock;          ///< Status if position information is available or not
470 471
    bool isLocalPositionKnown;  ///< If the local position has been received for this MAV
    bool isGlobalPositionKnown; ///< If the global position has been received for this MAV
472

473 474 475
    double localX;
    double localY;
    double localZ;
476

477 478
    double latitude;            ///< Global latitude as estimated by position estimator
    double longitude;           ///< Global longitude as estimated by position estimator
479 480 481
    double altitudeAMSL;        ///< Global altitude as estimated by position estimator, AMSL
    double altitudeAMSLFT;        ///< Global altitude as estimated by position estimator, AMSL
    double altitudeWGS84;        ///< Global altitude as estimated by position estimator, WGS84
482
    double altitudeRelative;    ///< Altitude above home as estimated by position estimator
483

484
    double satelliteCount;      ///< Number of satellites visible to raw GPS
485 486 487 488
    bool globalEstimatorActive; ///< Global position estimator present, do not fall back to GPS raw for position
    double latitude_gps;        ///< Global latitude as estimated by raw GPS
    double longitude_gps;       ///< Global longitude as estimated by raw GPS
    double altitude_gps;        ///< Global altitude as estimated by raw GPS
489 490 491
    double speedX;              ///< True speed in X axis
    double speedY;              ///< True speed in Y axis
    double speedZ;              ///< True speed in Z axis
492 493 494 495 496

    QVector3D nedPosGlobalOffset;   ///< Offset between the system's NED position measurements and the swarm / global 0/0/0 origin
    QVector3D nedAttGlobalOffset;   ///< Offset between the system's NED position measurements and the swarm / global 0/0/0 origin

    /// WAYPOINT NAVIGATION
497
    double distToWaypoint;       ///< Distance to next waypoint
498 499
    double airSpeed;             ///< Airspeed
    double groundSpeed;          ///< Groundspeed
500 501
    double bearingToWaypoint;    ///< Bearing to next waypoint
    UASWaypointManager waypointManager;
502
    QGCUASFileManager   fileManager;
503 504 505 506 507

    /// ATTITUDE
    bool attitudeKnown;             ///< True if attitude was received, false else
    bool attitudeStamped;           ///< Should arriving data be timestamped with the last attitude? This helps with broken system time clocks on the MAV
    quint64 lastAttitude;           ///< Timestamp of last attitude measurement
508 509 510 511
    double roll;
    double pitch;
    double yaw;

512 513
    // dongfang: This looks like a candidate for being moved off to a separate class.
    /// IMAGING
514 515 516 517 518 519 520 521 522 523 524
    int imageSize;              ///< Image size being transmitted (bytes)
    int imagePackets;           ///< Number of data packets being sent for this image
    int imagePacketsArrived;    ///< Number of data packets recieved
    int imagePayload;           ///< Payload size per transmitted packet (bytes). Standard is 254, and decreases when image resolution increases.
    int imageQuality;           ///< Quality of the transmitted image (percentage)
    int imageType;              ///< Type of the transmitted image (BMP, PNG, JPEG, RAW 8 bit, RAW 32 bit)
    int imageWidth;             ///< Width of the image stream
    int imageHeight;            ///< Width of the image stream
    QByteArray imageRecBuffer;  ///< Buffer for the incoming bytestream
    QImage image;               ///< Image data of last completely transmitted image
    quint64 imageStart;
525
    bool blockHomePositionChanges;   ///< Block changes to the home position
526
    bool receivedMode;          ///< True if mode was retrieved from current conenction to UAS
527 528 529 530 531 532 533 534 535 536 537 538 539 540 541 542 543 544 545 546 547 548 549

#if defined(QGC_PROTOBUF_ENABLED) && defined(QGC_USE_PIXHAWK_MESSAGES)
    px::GLOverlay overlay;
    QMutex overlayMutex;
    qreal receivedOverlayTimestamp;

    px::ObstacleList obstacleList;
    QMutex obstacleListMutex;
    qreal receivedObstacleListTimestamp;

    px::Path path;
    QMutex pathMutex;
    qreal receivedPathTimestamp;

    px::PointCloudXYZRGB pointCloud;
    QMutex pointCloudMutex;
    qreal receivedPointCloudTimestamp;

    px::RGBDImage rgbdImage;
    QMutex rgbdImageMutex;
    qreal receivedRGBDImageTimestamp;
#endif

550
    /// PARAMETERS
551 552
    QMap<int, QMap<QString, QVariant>* > parameters; ///< All parameters
    bool paramsOnceRequested;       ///< If the parameter list has been read at least once
553
    QGCUASParamManager paramMgr; ///< Parameter manager for this UAS
554 555

    /// SIMULATION
556
    QGCHilLink* simulation;         ///< Hardware in the loop simulation link
557
    QThread* _thread;
558 559 560 561 562 563 564 565 566 567 568 569 570 571

public:
    /** @brief Set the current battery type */
    void setBattery(BatteryType type, int cells);
    /** @brief Estimate how much flight time is remaining */
    int calculateTimeRemaining();
    /** @brief Get the current charge level */
    float getChargeLevel();
    /** @brief Get the human-readable status message for this code */
    void getStatusForCode(int statusCode, QString& uasState, QString& stateDescription);
    /** @brief Check if vehicle is in autonomous mode */
    bool isAuto();
    /** @brief Check if vehicle is armed */
    bool isArmed() const { return systemIsArmed; }
572 573
    /** @brief Check if vehicle is in HIL mode */
    bool isHilEnabled() const { return hilEnabled; }
574

575
    /** @brief Get reference to the waypoint manager **/
576 577 578
    UASWaypointManager* getWaypointManager() {
        return &waypointManager;
    }
579

580
    /** @brief Get reference to the param manager **/
581
    virtual QGCUASParamManagerInterface* getParamManager()  {
582
        return &paramMgr;
tstellanova's avatar
tstellanova committed
583 584
    }

585 586 587 588
    virtual QGCUASFileManager* getFileManager() {
        return &fileManager;
    }

589 590 591 592
    /** @brief Get the HIL simulation */
    QGCHilLink* getHILSimulation() const {
        return simulation;
    }
593 594


595
    int getSystemType();
596 597 598 599 600 601 602 603 604 605 606 607 608 609 610 611 612 613 614 615 616 617 618 619 620 621 622 623 624 625 626 627 628 629

    /**
     * @brief Returns true for systems that can reverse. If the system has no control over position, it returns false as
     * @return If the specified vehicle type can
     */
    bool systemCanReverse() const
    {
        switch(type)
        {
        case MAV_TYPE_GENERIC:
        case MAV_TYPE_FIXED_WING:
        case MAV_TYPE_ROCKET:
        case MAV_TYPE_FLAPPING_WING:

        // System types that don't have movement
        case MAV_TYPE_ANTENNA_TRACKER:
        case MAV_TYPE_GCS:
        case MAV_TYPE_FREE_BALLOON:
        default:
            return false;
        case MAV_TYPE_QUADROTOR:
        case MAV_TYPE_COAXIAL:
        case MAV_TYPE_HELICOPTER:
        case MAV_TYPE_AIRSHIP:
        case MAV_TYPE_GROUND_ROVER:
        case MAV_TYPE_SURFACE_BOAT:
        case MAV_TYPE_SUBMARINE:
        case MAV_TYPE_HEXAROTOR:
        case MAV_TYPE_OCTOROTOR:
        case MAV_TYPE_TRICOPTER:
            return true;
        }
    }

630 631 632 633 634 635 636 637 638 639 640 641 642 643 644 645 646 647 648 649 650 651 652 653 654 655 656 657 658 659 660 661 662 663 664 665 666 667 668 669 670 671 672 673 674 675 676 677 678 679 680 681 682 683 684 685 686 687 688 689 690 691 692 693 694 695 696 697 698 699 700 701 702 703 704 705 706 707 708 709 710 711 712 713 714 715 716 717 718 719 720 721 722 723 724 725 726 727 728 729 730 731 732 733 734 735 736 737 738 739 740 741 742 743
    QString getSystemTypeName()
    {
        switch(type)
        {
        case MAV_TYPE_GENERIC:
            return "GENERIC";
            break;
        case MAV_TYPE_FIXED_WING:
            return "FIXED_WING";
            break;
        case MAV_TYPE_QUADROTOR:
            return "QUADROTOR";
            break;
        case MAV_TYPE_COAXIAL:
            return "COAXIAL";
            break;
        case MAV_TYPE_HELICOPTER:
            return "HELICOPTER";
            break;
        case MAV_TYPE_ANTENNA_TRACKER:
            return "ANTENNA_TRACKER";
            break;
        case MAV_TYPE_GCS:
            return "GCS";
            break;
        case MAV_TYPE_AIRSHIP:
            return "AIRSHIP";
            break;
        case MAV_TYPE_FREE_BALLOON:
            return "FREE_BALLOON";
            break;
        case MAV_TYPE_ROCKET:
            return "ROCKET";
            break;
        case MAV_TYPE_GROUND_ROVER:
            return "GROUND_ROVER";
            break;
        case MAV_TYPE_SURFACE_BOAT:
            return "BOAT";
            break;
        case MAV_TYPE_SUBMARINE:
            return "SUBMARINE";
            break;
        case MAV_TYPE_HEXAROTOR:
            return "HEXAROTOR";
            break;
        case MAV_TYPE_OCTOROTOR:
            return "OCTOROTOR";
            break;
        case MAV_TYPE_TRICOPTER:
            return "TRICOPTER";
            break;
        case MAV_TYPE_FLAPPING_WING:
            return "FLAPPING_WING";
            break;
        default:
            return "";
            break;
        }
    }

    QImage getImage();
    void requestImage();
    int getAutopilotType(){
        return autopilot;
    }
    QString getAutopilotTypeName()
    {
        switch (autopilot)
        {
        case MAV_AUTOPILOT_GENERIC:
            return "GENERIC";
            break;
        case MAV_AUTOPILOT_PIXHAWK:
            return "PIXHAWK";
            break;
        case MAV_AUTOPILOT_SLUGS:
            return "SLUGS";
            break;
        case MAV_AUTOPILOT_ARDUPILOTMEGA:
            return "ARDUPILOTMEGA";
            break;
        case MAV_AUTOPILOT_OPENPILOT:
            return "OPENPILOT";
            break;
        case MAV_AUTOPILOT_GENERIC_WAYPOINTS_ONLY:
            return "GENERIC_WAYPOINTS_ONLY";
            break;
        case MAV_AUTOPILOT_GENERIC_WAYPOINTS_AND_SIMPLE_NAVIGATION_ONLY:
            return "GENERIC_MISSION_NAVIGATION_ONLY";
            break;
        case MAV_AUTOPILOT_GENERIC_MISSION_FULL:
            return "GENERIC_MISSION_FULL";
            break;
        case MAV_AUTOPILOT_INVALID:
            return "NO AP";
            break;
        case MAV_AUTOPILOT_PPZ:
            return "PPZ";
            break;
        case MAV_AUTOPILOT_UDB:
            return "UDB";
            break;
        case MAV_AUTOPILOT_FP:
            return "FP";
            break;
        case MAV_AUTOPILOT_PX4:
            return "PX4";
            break;
        default:
            return "";
            break;
        }
    }
744 745 746 747 748
    /** From UASInterface */
    QList<QAction*> getActions() const
    {
        return actions;
    }
749 750 751 752 753 754 755 756 757 758 759 760 761 762 763 764 765 766

public slots:
    /** @brief Set the autopilot type */
    void setAutopilotType(int apType)
    {
        autopilot = apType;
        emit systemSpecsChanged(uasId);
    }
    /** @brief Set the type of airframe */
    void setSystemType(int systemType);
    /** @brief Set the specific airframe type */
    void setAirframe(int airframe)
    {
        if((airframe >= QGC_AIRFRAME_GENERIC) && (airframe < QGC_AIRFRAME_END_OF_ENUM))
        {
          this->airframe = airframe;
          emit systemSpecsChanged(uasId);
        }
767

768 769 770 771 772 773 774
    }
    /** @brief Set a new name **/
    void setUASName(const QString& name);
    /** @brief Executes a command **/
    void executeCommand(MAV_CMD command);
    /** @brief Executes a command with 7 params */
    void executeCommand(MAV_CMD command, int confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7, int component);
775 776
    /** @brief Executes a command ack, with success boolean **/
    void executeCommandAck(int num, bool success);
777 778 779 780 781 782 783 784 785 786 787 788 789 790 791
    /** @brief Set the current battery type and voltages */
    void setBatterySpecs(const QString& specs);
    /** @brief Get the current battery type and specs */
    QString getBatterySpecs();

    /** @brief Launches the system **/
    void launch();
    /** @brief Write this waypoint to the list of waypoints */
    //void setWaypoint(Waypoint* wp); FIXME tbd
    /** @brief Set currently active waypoint */
    //void setWaypointActive(int id); FIXME tbd
    /** @brief Order the robot to return home **/
    void home();
    /** @brief Order the robot to land **/
    void land();
792 793 794
    /** @brief Order the robot to pair its receiver **/
    void pairRX(int rxType, int rxSubType);

795 796 797 798
    void halt();
    void go();

    /** @brief Enable / disable HIL */
799
    void enableHilFlightGear(bool enable, QString options, bool sensorHil, QObject * configuration);
800
    void enableHilJSBSim(bool enable, QString options);
801 802 803
    void enableHilXPlane(bool enable);

    /** @brief Send the full HIL state to the MAV */
804 805
    void sendHilState(quint64 time_us, float roll, float pitch, float yaw, float rollRotationRate,
                        float pitchRotationRate, float yawRotationRate, double lat, double lon, double alt,
806 807 808 809 810
                        float vx, float vy, float vz, float ind_airspeed, float true_airspeed, float xacc, float yacc, float zacc);

    void sendHilGroundTruth(quint64 time_us, float roll, float pitch, float yaw, float rollRotationRate,
                        float pitchRotationRate, float yawRotationRate, double lat, double lon, double alt,
                        float vx, float vy, float vz, float ind_airspeed, float true_airspeed, float xacc, float yacc, float zacc);
811

Lorenz Meier's avatar
Lorenz Meier committed
812
    /** @brief RAW sensors for sensor HIL */
813 814
    void sendHilSensors(quint64 time_us, float xacc, float yacc, float zacc, float rollspeed, float pitchspeed, float yawspeed,
                        float xmag, float ymag, float zmag, float abs_pressure, float diff_pressure, float pressure_alt, float temperature, quint32 fields_changed);
Lorenz Meier's avatar
Lorenz Meier committed
815

816 817 818 819
    /** @brief Send Optical Flow sensor message for HIL, (arguments and units accoding to mavlink documentation*/
    void sendHilOpticalFlow(quint64 time_us, qint16 flow_x, qint16 flow_y, float flow_comp_m_x,
                            float flow_comp_m_y, quint8 quality, float ground_distance);

Lorenz Meier's avatar
Lorenz Meier committed
820 821 822 823 824 825 826 827 828 829 830 831
    /**
     * @param time_us
     * @param lat
     * @param lon
     * @param alt
     * @param fix_type
     * @param eph
     * @param epv
     * @param vel
     * @param cog course over ground, in radians, -pi..pi
     * @param satellites
     */
832
    void sendHilGps(quint64 time_us, double lat, double lon, double alt, int fix_type, float eph, float epv, float vel, float vn, float ve, float vd,  float cog, int satellites);
Lorenz Meier's avatar
Lorenz Meier committed
833 834


835 836 837 838 839 840 841 842 843 844 845 846 847 848 849 850 851 852 853 854 855 856 857 858 859 860
    /** @brief Places the UAV in Hardware-in-the-Loop simulation status **/
    void startHil();

    /** @brief Stops the UAV's Hardware-in-the-Loop simulation status **/
    void stopHil();


    /** @brief Stops the robot system. If it is an MAV, the robot starts the emergency landing procedure **/
    void emergencySTOP();

    /** @brief Kills the robot. All systems are immediately shut down (e.g. the main power line is cut). This might lead to a crash **/
    bool emergencyKILL();

    /** @brief Shut the system cleanly down. Will shut down any onboard computers **/
    void shutdown();

    /** @brief Set the target position for the robot to navigate to. */
    void setTargetPosition(float x, float y, float z, float yaw);

    void startLowBattAlarm();
    void stopLowBattAlarm();

    /** @brief Arm system */
    void armSystem();
    /** @brief Disable the motors */
    void disarmSystem();
861 862
    /** @brief Toggle the armed state of the system. */
    void toggleArmedState();
863 864 865 866 867 868 869 870 871 872 873 874
    /**
     * @brief Tell the UAS to switch into a completely-autonomous mode, so disable manual input.
     */
    void goAutonomous();
    /**
     * @brief Tell the UAS to switch to manual control. Stabilized attitude may simultaneously be engaged.
     */
    void goManual();
    /**
     * @brief Tell the UAS to switch between manual and autonomous control.
     */
    void toggleAutonomy();
875 876

    /** @brief Set the values for the manual control of the vehicle */
877
    void setManualControlCommands(float roll, float pitch, float yaw, float thrust, qint8 xHat, qint8 yHat, quint16 buttons);
878 879 880 881 882 883 884 885 886 887 888 889 890 891 892 893 894 895 896 897 898 899 900 901 902 903 904 905

    /** @brief Set the values for the 6dof manual control of the vehicle */
    void setManual6DOFControlCommands(double x, double y, double z, double roll, double pitch, double yaw);

    /** @brief Add a link associated with this robot */
    void addLink(LinkInterface* link);
    /** @brief Remove a link associated with this robot */
    void removeLink(QObject* object);

    /** @brief Receive a message from one of the communication links. */
    virtual void receiveMessage(LinkInterface* link, mavlink_message_t message);

#ifdef QGC_PROTOBUF_ENABLED
    /** @brief Receive a message from one of the communication links. */
    virtual void receiveExtendedMessage(LinkInterface* link, std::tr1::shared_ptr<google::protobuf::Message> message);
#endif

    /** @brief Send a message over this link (to this or to all UAS on this link) */
    void sendMessage(LinkInterface* link, mavlink_message_t message);
    /** @brief Send a message over all links this UAS can be reached with (!= all links) */
    void sendMessage(mavlink_message_t message);

    /** @brief Temporary Hack for sending packets to patch Antenna. Send a message over all serial links except for this UAS's */
    void forwardMessage(mavlink_message_t message);

    /** @brief Set this UAS as the system currently in focus, e.g. in the main display widgets */
    void setSelected();

906
    /** @brief Set current mode of operation, e.g. auto or manual, always uses the current arming status for safety reason */
907
    void setMode(uint8_t newBaseMode, uint32_t newCustomMode);
908

909 910 911
    /** @brief Set current mode of operation, e.g. auto or manual, does not check the arming status, for anything else than arming/disarming operations use setMode instead */
    void setModeArm(uint8_t newBaseMode, uint32_t newCustomMode);

912 913 914 915 916 917 918 919 920
    /** @brief Request all parameters */
    void requestParameters();

    /** @brief Request a single parameter by name */
    void requestParameter(int component, const QString& parameter);
    /** @brief Request a single parameter by index */
    void requestParameter(int component, int id);

    /** @brief Set a system parameter */
921
    void setParameter(const int compId, const QString& paramId, const QVariant& value);
922 923 924 925 926 927 928 929 930 931 932 933 934 935 936 937 938 939 940 941 942 943 944 945 946 947 948 949 950 951 952 953 954 955 956

    /** @brief Write parameters to permanent storage */
    void writeParametersToStorage();
    /** @brief Read parameters from permanent storage */
    void readParametersFromStorage();

    /** @brief Get the names of all parameters */
    QList<QString> getParameterNames(int component);

    /** @brief Get the ids of all components */
    QList<int> getComponentIds();

    void enableAllDataTransmission(int rate);
    void enableRawSensorDataTransmission(int rate);
    void enableExtendedSystemStatusTransmission(int rate);
    void enableRCChannelDataTransmission(int rate);
    void enableRawControllerDataTransmission(int rate);
    //void enableRawSensorFusionTransmission(int rate);
    void enablePositionTransmission(int rate);
    void enableExtra1Transmission(int rate);
    void enableExtra2Transmission(int rate);
    void enableExtra3Transmission(int rate);

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

    /** @brief Set world frame origin at current GPS position */
    void setLocalOriginAtCurrentGPSPosition();
    /** @brief Set world frame origin / home position at this GPS position */
    void setHomePosition(double lat, double lon, double alt);
    /** @brief Set local position setpoint */
    void setLocalPositionSetpoint(float x, float y, float z, float yaw);
    /** @brief Add an offset in body frame to the setpoint */
    void setLocalPositionOffset(float x, float y, float z, float yaw);

957
    void startRadioControlCalibration(int param=1);
958
    void endRadioControlCalibration();
959 960 961 962 963 964 965
    void startMagnetometerCalibration();
    void startGyroscopeCalibration();
    void startPressureCalibration();

    void startDataRecording();
    void stopDataRecording();
    void deleteSettings();
966 967 968

    /** @brief Triggers the action associated with the given ID. */
    void triggerAction(int action);
969 970 971 972 973 974 975 976 977 978 979 980 981 982 983 984
signals:
    /** @brief The main/battery voltage has changed/was updated */
    //void voltageChanged(int uasId, double voltage); // Defined in UASInterface already
    /** @brief An actuator value has changed */
    //void actuatorChanged(UASInterface*, int actId, double value); // Defined in UASInterface already
    /** @brief An actuator value has changed */
    void actuatorChanged(UASInterface* uas, QString actuatorName, double min, double max, double value);
    void motorChanged(UASInterface* uas, QString motorName, double min, double max, double value);
    /** @brief The system load (MCU/CPU usage) changed */
    void loadChanged(UASInterface* uas, double load);
    /** @brief Propagate a heartbeat received from the system */
    //void heartbeat(UASInterface* uas); // Defined in UASInterface already
    void imageStarted(quint64 timestamp);
    /** @brief A new camera image has arrived */
    void imageReady(UASInterface* uas);
    /** @brief HIL controls have changed */
985
    void hilControlsChanged(quint64 time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, quint8 systemMode, quint8 navMode);
986
    /** @brief HIL actuator outputs have changed */
987
    void hilActuatorsChanged(quint64 time, float act1, float act2, float act3, float act4, float act5, float act6, float act7, float act8);
988

989 990 991 992 993
    void localXChanged(double val,QString name);
    void localYChanged(double val,QString name);
    void localZChanged(double val,QString name);
    void longitudeChanged(double val,QString name);
    void latitudeChanged(double val,QString name);
994
    void altitudeAMSLChanged(double val,QString name);
995 996
    void altitudeAMSLFTChanged(double val,QString name);
    void altitudeWGS84Changed(double val,QString name);
997
    void altitudeRelativeChanged(double val,QString name);
998 999 1000 1001
    void rollChanged(double val,QString name);
    void pitchChanged(double val,QString name);
    void yawChanged(double val,QString name);
    void satelliteCountChanged(double val,QString name);
1002
    void distToWaypointChanged(double val,QString name);
1003
    void groundSpeedChanged(double val, QString name);
1004
    void airSpeedChanged(double val, QString name);
1005
    void bearingToWaypointChanged(double val,QString name);
1006 1007 1008 1009 1010 1011 1012
protected:
    /** @brief Get the UNIX timestamp in milliseconds, enter microseconds */
    quint64 getUnixTime(quint64 time=0);
    /** @brief Get the UNIX timestamp in milliseconds, enter milliseconds */
    quint64 getUnixTimeFromMs(quint64 time);
    /** @brief Get the UNIX timestamp in milliseconds, ignore attitudeStamped mode */
    quint64 getUnixReferenceTime(quint64 time);
1013

1014
    virtual void processParamValueMsg(mavlink_message_t& msg, const QString& paramName,const mavlink_param_value_t& rawValue, mavlink_param_union_t& paramValue);
1015
    virtual void processParamValueMsgHook(mavlink_message_t& msg, const QString& paramName,const mavlink_param_value_t& rawValue, mavlink_param_union_t& paramValue) { Q_UNUSED(msg); Q_UNUSED(paramName); Q_UNUSED(rawValue); Q_UNUSED(paramValue); };
1016

1017 1018 1019 1020 1021 1022 1023 1024
    int componentID[256];
    bool componentMulti[256];
    bool connectionLost; ///< Flag indicates a timed out connection
    quint64 connectionLossTime; ///< Time the connection was interrupted
    quint64 lastVoltageWarning; ///< Time at which the last voltage warning occured
    quint64 lastNonNullTime;    ///< The last timestamp from the MAV that was not null
    unsigned int onboardTimeOffsetInvalidCount;     ///< Count when the offboard time offset estimation seemed wrong
    bool hilEnabled;            ///< Set to true if HIL mode is enabled from GCS (UAS might be in HIL even if this flag is not set, this defines the GCS HIL setting)
1025
    bool sensorHil;             ///< True if sensor HIL is enabled
1026
    quint64 lastSendTimeGPS;     ///< Last HIL GPS message sent
1027 1028
    quint64 lastSendTimeSensors; ///< Last HIL Sensors message sent
    quint64 lastSendTimeOpticalFlow; ///< Last HIL Optical Flow message sent
1029
    QList<QAction*> actions; ///< A list of actions that this UAS can perform.
1030

1031

1032 1033 1034 1035 1036 1037 1038 1039 1040 1041 1042 1043 1044 1045 1046 1047
protected slots:
    /** @brief Write settings to disk */
    void writeSettings();
    /** @brief Read settings from disk */
    void readSettings();

//    // MESSAGE RECEPTION
//    /** @brief Receive a named value message */
//    void receiveMessageNamedValue(const mavlink_message_t& message);

private:
//    unsigned int mode;          ///< The current mode of the MAV
};


#endif // _UAS_H_