/*=====================================================================
QGroundControl Open Source Ground Control Station
(c) 2009, 2010 QGROUNDCONTROL PROJECT <http://www.qgroundcontrol.org>
This file is part of the QGROUNDCONTROL project
QGROUNDCONTROL is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
QGROUNDCONTROL is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with QGROUNDCONTROL. If not, see <http://www.gnu.org/licenses/>.
======================================================================*/
/**
* @file
* @brief Definition of Unmanned Aerial Vehicle object
*
* @author Lorenz Meier <mavteam@student.ethz.ch>
*
*/
#ifndef _UAS_H_
#define _UAS_H_
#include "UASInterface.h"
#include <MAVLinkProtocol.h>
#include <QVector3D>
#include "QGCMAVLink.h"
#include "Vehicle.h"
#include "FirmwarePluginManager.h"
#ifndef __mobile__
#include "FileManager.h"
#include "QGCHilLink.h"
#include "QGCFlightGearLink.h"
#include "QGCJSBSimLink.h"
#include "QGCXPlaneLink.h"
#endif
Q_DECLARE_LOGGING_CATEGORY(UASLog)
class Vehicle;
/**
* @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:
UAS(MAVLinkProtocol* protocol, Vehicle* vehicle, FirmwarePluginManager * firmwarePluginManager);
float lipoFull; ///< 100% charged voltage
float lipoEmpty; ///< Discharged voltage
/* MANAGEMENT */
/** @brief Get the unique system id */
int getUASID() const;
/** @brief Get the components */
QMap<int, QString> getComponents();
/** @brief The time interval the robot is switched on */
quint64 getUptime() const;
/** @brief Add one measurement and get low-passed voltage */
float filterVoltage(float value);
Q_PROPERTY(double latitude READ getLatitude WRITE setLatitude NOTIFY latitudeChanged)
Q_PROPERTY(double longitude READ getLongitude WRITE setLongitude NOTIFY longitudeChanged)
Q_PROPERTY(double satelliteCount READ getSatelliteCount WRITE setSatelliteCount NOTIFY satelliteCountChanged)
Q_PROPERTY(bool isGlobalPositionKnown READ globalPositionKnown)
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)
Q_PROPERTY(double distToWaypoint READ getDistToWaypoint WRITE setDistToWaypoint NOTIFY distToWaypointChanged)
Q_PROPERTY(double airSpeed READ getGroundSpeed WRITE setGroundSpeed NOTIFY airSpeedChanged)
Q_PROPERTY(double groundSpeed READ getGroundSpeed WRITE setGroundSpeed NOTIFY groundSpeedChanged)
Q_PROPERTY(double bearingToWaypoint READ getBearingToWaypoint WRITE setBearingToWaypoint NOTIFY bearingToWaypointChanged)
Q_PROPERTY(double altitudeAMSL READ getAltitudeAMSL WRITE setAltitudeAMSL NOTIFY altitudeAMSLChanged)
Q_PROPERTY(double altitudeAMSLFT READ getAltitudeAMSLFT NOTIFY altitudeAMSLFTChanged)
Q_PROPERTY(double altitudeWGS84 READ getAltitudeWGS84 WRITE setAltitudeWGS84 NOTIFY altitudeWGS84Changed)
Q_PROPERTY(double altitudeRelative READ getAltitudeRelative WRITE setAltitudeRelative NOTIFY altitudeRelativeChanged)
Q_PROPERTY(double satRawHDOP READ getSatRawHDOP NOTIFY satRawHDOPChanged)
Q_PROPERTY(double satRawVDOP READ getSatRawVDOP NOTIFY satRawVDOPChanged)
Q_PROPERTY(double satRawCOG READ getSatRawCOG NOTIFY satRawCOGChanged)
/// Vehicle is about to go away
void shutdownVehicle(void);
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;
}
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;
}
void setLocalX(double val)
{
localX = val;
emit localXChanged(val,"localX");
emit valueChanged(this->uasId,"localX","m",QVariant(val),getUnixTime());
}
double getLocalX() const
{
return localX;
}
void setLocalY(double val)
{
localY = val;
emit localYChanged(val,"localY");
emit valueChanged(this->uasId,"localY","m",QVariant(val),getUnixTime());
}
double getLocalY() const
{
return localY;
}
void setLocalZ(double val)
{
localZ = val;
emit localZChanged(val,"localZ");
emit valueChanged(this->uasId,"localZ","m",QVariant(val),getUnixTime());
}
double getLocalZ() const
{
return localZ;
}
void setLatitude(double val)
{
latitude = val;
emit latitudeChanged(val,"latitude");
emit valueChanged(this->uasId,"latitude","deg",QVariant(val),getUnixTime());
}
double getLatitude() const
{
return latitude;
}
void setLongitude(double val)
{
longitude = val;
emit longitudeChanged(val,"longitude");
emit valueChanged(this->uasId,"longitude","deg",QVariant(val),getUnixTime());
}
double getLongitude() const
{
return longitude;
}
void setAltitudeAMSL(double val)
{
altitudeAMSL = val;
emit altitudeAMSLChanged(val, "altitudeAMSL");
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());
}
double getAltitudeAMSL() const
{
return altitudeAMSL;
}
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;
}
void setAltitudeRelative(double val)
{
altitudeRelative = val;
emit altitudeRelativeChanged(val, "altitudeRelative");
emit valueChanged(this->uasId,"altitudeRelative","m",QVariant(val),getUnixTime());
}
double getAltitudeRelative() const
{
return altitudeRelative;
}
double getSatRawHDOP() const
{
return satRawHDOP;
}
double getSatRawVDOP() const
{
return satRawVDOP;
}
double getSatRawCOG() const
{
return satRawCOG;
}
void setSatelliteCount(double val)
{
satelliteCount = val;
emit satelliteCountChanged(val,"satelliteCount");
emit valueChanged(this->uasId,"satelliteCount","",QVariant(val),getUnixTime());
}
double getSatelliteCount() const
{
return satelliteCount;
}
virtual bool globalPositionKnown() const
{
return isGlobalPositionKnown;
}
void setDistToWaypoint(double val)
{
distToWaypoint = val;
emit distToWaypointChanged(val,"distToWaypoint");
emit valueChanged(this->uasId,"distToWaypoint","m",QVariant(val),getUnixTime());
}
double getDistToWaypoint() const
{
return distToWaypoint;
}
void setBearingToWaypoint(double val)
{
bearingToWaypoint = val;
emit bearingToWaypointChanged(val,"bearingToWaypoint");
emit valueChanged(this->uasId,"bearingToWaypoint","deg",QVariant(val),getUnixTime());
}
double getBearingToWaypoint() const
{
return bearingToWaypoint;
}
void setRoll(double val)
{
roll = val;
emit rollChanged(val,"roll");
}
double getRoll() const
{
return roll;
}
void setPitch(double val)
{
pitch = val;
emit pitchChanged(val,"pitch");
}
double getPitch() const
{
return pitch;
}
void setYaw(double val)
{
yaw = val;
emit yawChanged(val,"yaw");
}
double getYaw() const
{
return yaw;
}
// Setters for HIL noise variance
void setXaccVar(float var){
xacc_var = var;
}
void setYaccVar(float var){
yacc_var = var;
}
void setZaccVar(float var){
zacc_var = var;
}
void setRollSpeedVar(float var){
rollspeed_var = var;
}
void setPitchSpeedVar(float var){
pitchspeed_var = var;
}
void setYawSpeedVar(float var){
pitchspeed_var = var;
}
void setXmagVar(float var){
xmag_var = var;
}
void setYmagVar(float var){
ymag_var = var;
}
void setZmagVar(float var){
zmag_var = var;
}
void setAbsPressureVar(float var){
abs_pressure_var = var;
}
void setDiffPressureVar(float var){
diff_pressure_var = var;
}
void setPressureAltVar(float var){
pressure_alt_var = var;
}
void setTemperatureVar(float var){
temperature_var = var;
}
#ifndef __mobile__
friend class FileManager;
#endif
protected: //COMMENTS FOR TEST UNIT
/// LINK ID AND STATUS
int uasId; ///< Unique system ID
QMap<int, QString> components;///< IDs and names of all detected onboard components
QList<int> unknownPackets; ///< Packet IDs which are unknown and have been received
MAVLinkProtocol* mavlink; ///< Reference to the MAVLink instance
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
QTimer statusTimeout; ///< Timer for various status timeouts
/// BASIC UAS TYPE, NAME AND STATE
uint8_t base_mode; ///< The current mode of the MAV
uint32_t custom_mode; ///< The current mode of the MAV
int status; ///< The current status of the MAV
// dongfang: This looks like a candidate for being moved off to a separate class.
/// BATTERY / ENERGY
float startVoltage; ///< Voltage at system start
float tickVoltage; ///< Voltage where 0.1 V ticks are told
float lastTickVoltageValue; ///< The last voltage where a tick was announced
float tickLowpassVoltage; ///< Lowpass-filtered voltage for the tick announcement
float warnLevelPercent; ///< Warning level, in percent
double currentVoltage; ///< Voltage currently measured
float lpVoltage; ///< Low-pass filtered voltage
double currentCurrent; ///< Battery current currently measured
bool batteryRemainingEstimateEnabled; ///< If the estimate is enabled, QGC will try to estimate the remaining battery life
float chargeLevel; ///< Charge level of battery, in percent
bool lowBattAlarm; ///< Switch if battery is low
/// TIMEKEEPING
quint64 startTime; ///< The time the UAS was switched on
quint64 onboardTimeOffset;
/// MANUAL CONTROL
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)
/// POSITION
bool positionLock; ///< Status if position information is available or not
bool isGlobalPositionKnown; ///< If the global position has been received for this MAV
double localX;
double localY;
double localZ;
double latitude; ///< Global latitude as estimated by position estimator
double longitude; ///< Global longitude as estimated by position estimator
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
double altitudeRelative; ///< Altitude above home as estimated by position estimator
double satRawHDOP;
double satRawVDOP;
double satRawCOG;
double satelliteCount; ///< Number of satellites visible to raw GPS
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
double speedX; ///< True speed in X axis
double speedY; ///< True speed in Y axis
double speedZ; ///< True speed in Z axis
/// WAYPOINT NAVIGATION
double distToWaypoint; ///< Distance to next waypoint
double airSpeed; ///< Airspeed
double groundSpeed; ///< Groundspeed
double bearingToWaypoint; ///< Bearing to next waypoint
#ifndef __mobile__
FileManager fileManager;
#endif
/// 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
double roll;
double pitch;
double yaw;
// dongfang: This looks like a candidate for being moved off to a separate class.
/// IMAGING
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;
bool blockHomePositionChanges; ///< Block changes to the home position
bool receivedMode; ///< True if mode was retrieved from current conenction to UAS
/// SIMULATION NOISE
float xacc_var; ///< variance of x acclerometer noise for HIL sim (mg)
float yacc_var; ///< variance of y acclerometer noise for HIL sim (mg)
float zacc_var; ///< variance of z acclerometer noise for HIL sim (mg)
float rollspeed_var; ///< variance of x gyroscope noise for HIL sim (rad/s)
float pitchspeed_var; ///< variance of y gyroscope noise for HIL sim (rad/s)
float yawspeed_var; ///< variance of z gyroscope noise for HIL sim (rad/s)
float xmag_var; ///< variance of x magnatometer noise for HIL sim (???)
float ymag_var; ///< variance of y magnatometer noise for HIL sim (???)
float zmag_var; ///< variance of z magnatometer noise for HIL sim (???)
float abs_pressure_var; ///< variance of absolute pressure noise for HIL sim (hPa)
float diff_pressure_var; ///< variance of differential pressure noise for HIL sim (hPa)
float pressure_alt_var; ///< variance of altitude pressure noise for HIL sim (hPa)
float temperature_var; ///< variance of temperature noise for HIL sim (C)
/// SIMULATION
#ifndef __mobile__
QGCHilLink* simulation; ///< Hardware in the loop simulation link
#endif
public:
/** @brief Get the current charge level */
float getChargeLevel();
/** @brief Get the human-readable status message for this code */
void getStatusForCode(int statusCode, QString& uasState, QString& stateDescription);
#ifndef __mobile__
virtual FileManager* getFileManager() { return &fileManager; }
#endif
/** @brief Get the HIL simulation */
#ifndef __mobile__
QGCHilLink* getHILSimulation() const {
return simulation;
}
#endif
QImage getImage();
void requestImage();
public slots:
/** @brief Executes a command with 7 params */
void executeCommand(MAV_CMD command, int confirmation, float param1, float param2, float param3, float param4, float param5, float param6, float param7, int component);
/** @brief Order the robot to pair its receiver **/
void pairRX(int rxType, int rxSubType);
/** @brief Enable / disable HIL */
#ifndef __mobile__
void enableHilFlightGear(bool enable, QString options, bool sensorHil, QObject * configuration);
void enableHilJSBSim(bool enable, QString options);
void enableHilXPlane(bool enable);
/** @brief Send the full HIL state to the MAV */
void sendHilState(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);
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);
/** @brief RAW sensors for sensor HIL */
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);
/** @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);
float addZeroMeanNoise(float truth_meas, float noise_var);
/**
* @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
*/
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);
/** @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();
#endif
void startLowBattAlarm();
void stopLowBattAlarm();
/** @brief Set the values for the manual control of the vehicle */
void setExternalControlSetpoint(float roll, float pitch, float yaw, float thrust, quint16 buttons, int joystickMode);
/** @brief Set the values for the 6dof manual control of the vehicle */
#ifndef __mobile__
void setManual6DOFControlCommands(double x, double y, double z, double roll, double pitch, double yaw);
#endif
/** @brief Receive a message from one of the communication links. */
virtual void receiveMessage(mavlink_message_t message);
/** @brief Update the system state */
void updateState();
void startCalibration(StartCalibrationType calType);
void stopCalibration(void);
void startBusConfig(StartBusConfigType calType);
void stopBusConfig(void);
/** @brief Send command to map a RC channel to a parameter */
void sendMapRCToParam(QString param_id, float scale, float value0, quint8 param_rc_channel_index, float valueMin, float valueMax);
/** @brief Send command to disable all bindings/maps between RC and parameters */
void unsetRCToParameterMap();
signals:
void loadChanged(UASInterface* uas, double load);
/** @brief Propagate a heartbeat received from the system */
//void heartbeat(UASInterface* uas); // Defined in UASInterface already
void imageStarted(quint64 timestamp);
/** @brief A new camera image has arrived */
void imageReady(UASInterface* uas);
/** @brief HIL controls have changed */
void hilControlsChanged(quint64 time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, quint8 systemMode, quint8 navMode);
/** @brief HIL actuator outputs have changed */
void hilActuatorsChanged(quint64 time, float act1, float act2, float act3, float act4, float act5, float act6, float act7, float act8);
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);
void altitudeAMSLChanged(double val,QString name);
void altitudeAMSLFTChanged(double val,QString name);
void altitudeWGS84Changed(double val,QString name);
void altitudeRelativeChanged(double val,QString name);
void satRawHDOPChanged (double value);
void satRawVDOPChanged (double value);
void satRawCOGChanged (double value);
void rollChanged(double val,QString name);
void pitchChanged(double val,QString name);
void yawChanged(double val,QString name);
void satelliteCountChanged(double val,QString name);
void distToWaypointChanged(double val,QString name);
void groundSpeedChanged(double val, QString name);
void airSpeedChanged(double val, QString name);
void bearingToWaypointChanged(double val,QString name);
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);
virtual void processParamValueMsg(mavlink_message_t& msg, const QString& paramName,const mavlink_param_value_t& rawValue, mavlink_param_union_t& paramValue);
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;
bool sensorHil; ///< True if sensor HIL is enabled
quint64 lastSendTimeGPS; ///< Last HIL GPS message sent
quint64 lastSendTimeSensors; ///< Last HIL Sensors message sent
quint64 lastSendTimeOpticalFlow; ///< Last HIL Optical Flow message sent
private:
void _say(const QString& text, int severity = 6);
private:
Vehicle* _vehicle;
FirmwarePluginManager* _firmwarePluginManager;
};
#endif // _UAS_H_