Vehicle.h

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#pragma once
 
#include <functional>
#include <memory>
 
#include <QtCore/QElapsedTimer>
#include <QtCore/QFile>
#include <QtCore/QObject>
#include <QtCore/QPointer>
#include <QtCore/QSharedPointer>
#include <QtCore/QTime>
#include <QtCore/QTimer>
#include <QtCore/QVariantList>
#include <QtPositioning/QGeoCoordinate>
#include <QtQmlIntegration/QtQmlIntegration>
 
#include <array>
#include <atomic>
 
#include "QGCMAVLink.h"
#include "VehicleFactGroup.h"
#include "VehicleSigningController.h"  // Q_PROPERTY needs the full QObject type for moc/QML metatype registration
#include "VehicleTypes.h"
 
class Actuators;
class HealthAndArmingCheckReport;
class MAVLinkStreamConfig;
class QGCMapCircle;
class QJsonDocument;
class QmlObjectListModel;
class SysStatusSensorInfo;
class VehicleLinkManager;
class AutoPilotPlugin;
class BatteryFactGroupListModel;
class EscStatusFactGroupListModel;
class GimbalController;
class RadioStatusFactGroup;
class TerrainFactGroup;
class VehicleClockFactGroup;
class VehicleDistanceSensorFactGroup;
class VehicleEFIFactGroup;
class VehicleEstimatorStatusFactGroup;
class VehicleGeneratorFactGroup;
class VehicleGPS2FactGroup;
class VehicleGPSFactGroup;
class VehicleGPSAggregateFactGroup;
class VehicleHygrometerFactGroup;
class VehicleLocalPositionFactGroup;
class VehicleLocalPositionSetpointFactGroup;
class VehicleRPMFactGroup;
class VehicleSetpointFactGroup;
class VehicleTemperatureFactGroup;
class VehicleVibrationFactGroup;
class VehicleWindFactGroup;
class Autotune;
class ComponentInformationManager;
class MAVLinkEventManager;
class FirmwarePlugin;
class FTPManager;
class GeoFenceManager;
class ImageProtocolManager;
class StatusTextHandler;
class InitialConnectStateMachine;
class LinkInterface;
class MAVLinkLogManager;
class MavCommandQueue;
class MessageIntervalManager;
class MissionManager;
class ParameterManager;
class RequestMessageCoordinator;
class QGCCameraManager;
class RallyPointManager;
class RemoteIDManager;
class RequestMessageTest;
class RetryableRequestMessageStateTest;
class SendMavCommandWithHandlerTest;
class SendMavCommandWithSignallingTest;
class StandardModes;
class TerrainAtCoordinateQuery;
class TerrainQueryCoordinator;
class TerrainProtocolHandler;
class TrajectoryPoints;
class VehicleObjectAvoidance;
class VehicleSupports;
 
class Vehicle : public VehicleFactGroup, public VehicleTypes
{
    Q_OBJECT
    QML_ELEMENT
    QML_UNCREATABLE("")
    Q_MOC_INCLUDE("Actuators.h")
    Q_MOC_INCLUDE("AutoPilotPlugin.h")
    Q_MOC_INCLUDE("Autotune.h")
    Q_MOC_INCLUDE("GimbalController.h")
    Q_MOC_INCLUDE("LinkInterface.h")
    Q_MOC_INCLUDE("MAVLinkLogManager.h")
    Q_MOC_INCLUDE("ParameterManager.h")
    Q_MOC_INCLUDE("QGCMapCircle.h")
    Q_MOC_INCLUDE("QmlObjectListModel.h")
    Q_MOC_INCLUDE("RemoteIDManager.h")
    Q_MOC_INCLUDE("TrajectoryPoints.h")
    Q_MOC_INCLUDE("VehicleLinkManager.h")
    Q_MOC_INCLUDE("VehicleObjectAvoidance.h")
    Q_MOC_INCLUDE("VehicleSupports.h")
 
    friend class InitialConnectStateMachine;
    friend class VehicleLinkManager;
    friend class FactGroupListModel;                // Allow call _addFactGroup
#ifdef QGC_UNITTEST_BUILD
    friend class SendMavCommandWithSignallingTest;  // Unit test
    friend class SendMavCommandWithHandlerTest;     // Unit test
    friend class RequestMessageTest;                // Unit test
    friend class RetryableRequestMessageStateTest;  // Unit test
#endif
    friend class GimbalController;                  // Allow GimbalController to call _addFactGroup
 
public:
    Vehicle(LinkInterface*          link,
            int                     vehicleId,
            int                     defaultComponentId,
            MAV_AUTOPILOT           firmwareType,
            MAV_TYPE                vehicleType,
            QObject*                parent = nullptr);
 
    // Pass these into the offline constructor to create an offline vehicle which tracks the offline vehicle settings.
    // Keep these as valid enum values to avoid UBSan failures on enum loads/comparisons.
    // Use ENUM_END sentinels — no real component should report these values.
    static const MAV_AUTOPILOT    MAV_AUTOPILOT_TRACK = MAV_AUTOPILOT_ENUM_END;
    static const MAV_TYPE         MAV_TYPE_TRACK = MAV_TYPE_ENUM_END;
 
    // The following is used to create a disconnected Vehicle for use while offline editing.
    Vehicle(MAV_AUTOPILOT           firmwareType,
            MAV_TYPE                vehicleType,
            QObject*                parent = nullptr);
 
    ~Vehicle();
 
    enum CheckList {
        CheckListNotSetup = 0,
        CheckListPassed,
        CheckListFailed,
    };
    Q_ENUM(CheckList)
 
    Q_PROPERTY(int                  id                          READ id                                                             CONSTANT)
    Q_PROPERTY(AutoPilotPlugin*     autopilotPlugin             MEMBER _autopilotPlugin                                             CONSTANT)
    Q_PROPERTY(QGeoCoordinate       coordinate                  READ coordinate                                                     NOTIFY coordinateChanged)
    Q_PROPERTY(QGeoCoordinate       homePosition                READ homePosition                                                   NOTIFY homePositionChanged)
    Q_PROPERTY(QGeoCoordinate       armedPosition               READ armedPosition                                                  NOTIFY armedPositionChanged)
    Q_PROPERTY(bool                 armed                       READ armed                      WRITE setArmedShowError             NOTIFY armedChanged)
    Q_PROPERTY(bool                 autoDisarm                  READ autoDisarm                                                     NOTIFY autoDisarmChanged)
    Q_PROPERTY(bool                 flightModeSetAvailable      READ flightModeSetAvailable                                         CONSTANT)
    Q_PROPERTY(QStringList          flightModes                 READ flightModes                                                    NOTIFY flightModesChanged)
    Q_PROPERTY(QString              flightMode                  READ flightMode                 WRITE setFlightMode                 NOTIFY flightModeChanged)
    Q_PROPERTY(TrajectoryPoints*    trajectoryPoints            MEMBER _trajectoryPoints                                            CONSTANT)
    Q_PROPERTY(QmlObjectListModel*  cameraTriggerPoints         READ cameraTriggerPoints                                            CONSTANT)
    Q_PROPERTY(float                latitude                    READ latitude                                                       NOTIFY coordinateChanged)
    Q_PROPERTY(float                longitude                   READ longitude                                                      NOTIFY coordinateChanged)
    Q_PROPERTY(bool                 px4Firmware                 READ px4Firmware                                                    NOTIFY firmwareTypeChanged)
    Q_PROPERTY(bool                 apmFirmware                 READ apmFirmware                                                    NOTIFY firmwareTypeChanged)
    Q_PROPERTY(bool                 soloFirmware                READ soloFirmware               WRITE setSoloFirmware               NOTIFY soloFirmwareChanged)
    Q_PROPERTY(bool                 genericFirmware             READ genericFirmware                                                CONSTANT)
    Q_PROPERTY(uint                 messagesReceived            READ messagesReceived                                               NOTIFY messagesReceivedChanged)
    Q_PROPERTY(uint                 messagesSent                READ messagesSent                                                   NOTIFY messagesSentChanged)
    Q_PROPERTY(uint                 messagesLost                READ messagesLost                                                   NOTIFY messagesLostChanged)
    Q_PROPERTY(bool                 airship                     READ airship                                                        NOTIFY vehicleTypeChanged)
    Q_PROPERTY(bool                 fixedWing                   READ fixedWing                                                      NOTIFY vehicleTypeChanged)
    Q_PROPERTY(bool                 multiRotor                  READ multiRotor                                                     NOTIFY vehicleTypeChanged)
    Q_PROPERTY(bool                 vtol                        READ vtol                                                           NOTIFY vehicleTypeChanged)
    Q_PROPERTY(bool                 rover                       READ rover                                                          NOTIFY vehicleTypeChanged)
    Q_PROPERTY(bool                 sub                         READ sub                                                            NOTIFY vehicleTypeChanged)
    Q_PROPERTY(VehicleSupports*     supports                    READ supports                                                       CONSTANT)
    Q_PROPERTY(QString              prearmError                 READ prearmError                WRITE setPrearmError                NOTIFY prearmErrorChanged)
    Q_PROPERTY(int                  motorCount                  READ motorCount                                                     CONSTANT)
    Q_PROPERTY(bool                 coaxialMotors               READ coaxialMotors                                                  CONSTANT)
    Q_PROPERTY(bool                 xConfigMotors               READ xConfigMotors                                                  CONSTANT)
    Q_PROPERTY(bool                 isOfflineEditingVehicle     READ isOfflineEditingVehicle                                        CONSTANT)
    Q_PROPERTY(int                  sensorsPresentBits          READ sensorsPresentBits                                             NOTIFY sensorsPresentBitsChanged)
    Q_PROPERTY(int                  sensorsEnabledBits          READ sensorsEnabledBits                                             NOTIFY sensorsEnabledBitsChanged)
    Q_PROPERTY(int                  sensorsHealthBits           READ sensorsHealthBits                                              NOTIFY sensorsHealthBitsChanged)
    Q_PROPERTY(int                  sensorsUnhealthyBits        READ sensorsUnhealthyBits                                           NOTIFY sensorsUnhealthyBitsChanged) 
    Q_PROPERTY(QString              missionFlightMode           READ missionFlightMode                                              CONSTANT)
    Q_PROPERTY(QString              pauseFlightMode             READ pauseFlightMode                                                CONSTANT)
    Q_PROPERTY(QString              rtlFlightMode               READ rtlFlightMode                                                  CONSTANT)
    Q_PROPERTY(QString              smartRTLFlightMode          READ smartRTLFlightMode                                             CONSTANT)
    Q_PROPERTY(QString              landFlightMode              READ landFlightMode                                                 CONSTANT)
    Q_PROPERTY(QString              takeControlFlightMode       READ takeControlFlightMode                                          CONSTANT)
    Q_PROPERTY(QString              followFlightMode            READ followFlightMode                                               CONSTANT)
    Q_PROPERTY(QString              motorDetectionFlightMode    READ motorDetectionFlightMode                                       CONSTANT)
    Q_PROPERTY(QString              stabilizedFlightMode        READ stabilizedFlightMode                                           CONSTANT)
    Q_PROPERTY(QString              firmwareTypeString          READ firmwareTypeString                                             NOTIFY firmwareTypeChanged)
    Q_PROPERTY(QString              vehicleTypeString           READ vehicleTypeString                                              NOTIFY vehicleTypeChanged)
    Q_PROPERTY(QString              vehicleImageOpaque          READ vehicleImageOpaque                                             CONSTANT)
    Q_PROPERTY(QString              vehicleImageOutline         READ vehicleImageOutline                                            CONSTANT)
    Q_PROPERTY(QVariantList         toolIndicators              READ toolIndicators                                                 NOTIFY toolIndicatorsChanged)
    Q_PROPERTY(bool              initialPlanRequestComplete     READ initialPlanRequestComplete                                     NOTIFY initialPlanRequestCompleteChanged)
    Q_PROPERTY(QString              hobbsMeter                  READ hobbsMeter                                                     NOTIFY hobbsMeterChanged)
    Q_PROPERTY(bool                 inFwdFlight                 READ inFwdFlight                                                    NOTIFY inFwdFlightChanged)
    Q_PROPERTY(bool                 vtolInFwdFlight             READ vtolInFwdFlight            WRITE setVtolInFwdFlight            NOTIFY vtolInFwdFlightChanged)
    Q_PROPERTY(quint64              mavlinkSentCount            READ mavlinkSentCount                                               NOTIFY mavlinkStatusChanged)
    Q_PROPERTY(quint64              mavlinkReceivedCount        READ mavlinkReceivedCount                                           NOTIFY mavlinkStatusChanged)
    Q_PROPERTY(quint64              mavlinkLossCount            READ mavlinkLossCount                                               NOTIFY mavlinkStatusChanged)
    Q_PROPERTY(float                mavlinkLossPercent          READ mavlinkLossPercent                                             NOTIFY mavlinkStatusChanged)
    Q_PROPERTY(GimbalController*    gimbalController            READ gimbalController                                               CONSTANT)
    Q_PROPERTY(bool                 hasGripper                  READ hasGripper                                                     NOTIFY hasGripperChanged)
    Q_PROPERTY(bool                 isROIEnabled                READ isROIEnabled                                                   NOTIFY isROIEnabledChanged)
    Q_PROPERTY(double               roiRelativeAltitudeMeters   READ roiRelativeAltitudeMeters                                      NOTIFY roiRelativeAltitudeMetersChanged)
    Q_PROPERTY(CheckList            checkListState              READ checkListState             WRITE setCheckListState             NOTIFY checkListStateChanged)
    Q_PROPERTY(bool                 readyToFlyAvailable         READ readyToFlyAvailable                                            NOTIFY readyToFlyAvailableChanged)  
    Q_PROPERTY(bool                 readyToFly                  READ readyToFly                                                     NOTIFY readyToFlyChanged)
    Q_PROPERTY(QObject*             sysStatusSensorInfo         READ sysStatusSensorInfo                                            CONSTANT)
    Q_PROPERTY(bool                 allSensorsHealthy           READ allSensorsHealthy                                              NOTIFY allSensorsHealthyChanged)    //< true: all sensors in SYS_STATUS reported as healthy
    Q_PROPERTY(bool                 requiresGpsFix              READ requiresGpsFix                                                 NOTIFY requiresGpsFixChanged)
    Q_PROPERTY(double               loadProgress                READ loadProgress                                                   NOTIFY loadProgressChanged)
    Q_PROPERTY(bool                 initialConnectComplete      READ isInitialConnectComplete                                       NOTIFY initialConnectComplete)
 
    // The following properties relate to Orbit status
    Q_PROPERTY(bool             orbitActive     READ orbitActive        NOTIFY orbitActiveChanged)
    Q_PROPERTY(QGCMapCircle*    orbitMapCircle  READ orbitMapCircle     CONSTANT)
 
    // Vehicle state used for guided control
    Q_PROPERTY(bool     flying                  READ flying                                         NOTIFY flyingChanged)       
    Q_PROPERTY(bool     landing                 READ landing                                        NOTIFY landingChanged)      
    Q_PROPERTY(bool     guidedMode              READ guidedMode                 WRITE setGuidedMode NOTIFY guidedModeChanged)   
    Q_PROPERTY(QString  gotoFlightMode          READ gotoFlightMode                                 CONSTANT)                   
    Q_PROPERTY(bool     haveMRSpeedLimits       READ haveMRSpeedLimits                              NOTIFY haveMRSpeedLimChanged)
    Q_PROPERTY(bool     haveFWSpeedLimits       READ haveFWSpeedLimits                              NOTIFY haveFWSpeedLimChanged)
 
    Q_PROPERTY(ParameterManager*        parameterManager    READ parameterManager   CONSTANT)
    Q_PROPERTY(VehicleLinkManager*      vehicleLinkManager  READ vehicleLinkManager CONSTANT)
    Q_PROPERTY(VehicleObjectAvoidance*  objectAvoidance     READ objectAvoidance    CONSTANT)
    Q_PROPERTY(Autotune*                autotune            READ autotune           CONSTANT)
    Q_PROPERTY(RemoteIDManager*         remoteIDManager     READ remoteIDManager    CONSTANT)
 
    // FactGroup object model properties
 
    Q_PROPERTY(FactGroup*           vehicle         READ vehicleFactGroup           CONSTANT)
    Q_PROPERTY(FactGroup*           gps             READ gpsFactGroup               CONSTANT)
    Q_PROPERTY(FactGroup*           gps2            READ gps2FactGroup              CONSTANT)
    Q_PROPERTY(FactGroup*           gpsAggregate    READ gpsAggregateFactGroup      CONSTANT)
    Q_PROPERTY(FactGroup*           wind            READ windFactGroup              CONSTANT)
    Q_PROPERTY(FactGroup*           vibration       READ vibrationFactGroup         CONSTANT)
    Q_PROPERTY(FactGroup*           temperature     READ temperatureFactGroup       CONSTANT)
    Q_PROPERTY(FactGroup*           clock           READ clockFactGroup             CONSTANT)
    Q_PROPERTY(FactGroup*           setpoint        READ setpointFactGroup          CONSTANT)
    Q_PROPERTY(FactGroup*           estimatorStatus READ estimatorStatusFactGroup   CONSTANT)
    Q_PROPERTY(FactGroup*           terrain         READ terrainFactGroup           CONSTANT)
    Q_PROPERTY(FactGroup*           distanceSensors READ distanceSensorFactGroup    CONSTANT)
    Q_PROPERTY(FactGroup*           localPosition   READ localPositionFactGroup     CONSTANT)
    Q_PROPERTY(FactGroup*           localPositionSetpoint READ localPositionSetpointFactGroup CONSTANT)
    Q_PROPERTY(FactGroup*           hygrometer      READ hygrometerFactGroup        CONSTANT)
    Q_PROPERTY(FactGroup*           generator       READ generatorFactGroup         CONSTANT)
    Q_PROPERTY(FactGroup*           efi             READ efiFactGroup               CONSTANT)
    Q_PROPERTY(FactGroup*           radioStatus     READ radioStatusFactGroup       CONSTANT)
    Q_PROPERTY(Actuators*           actuators       READ actuators                  CONSTANT)
 
    // Dynamic FactGroupListModel properties
    Q_PROPERTY(QmlObjectListModel*  batteries       READ batteries                  CONSTANT)
    Q_PROPERTY(QmlObjectListModel*  escs            READ escs                       CONSTANT)
 
    Q_PROPERTY(int      firmwareMajorVersion        READ firmwareMajorVersion       NOTIFY firmwareVersionChanged)
    Q_PROPERTY(int      firmwareMinorVersion        READ firmwareMinorVersion       NOTIFY firmwareVersionChanged)
    Q_PROPERTY(int      firmwarePatchVersion        READ firmwarePatchVersion       NOTIFY firmwareVersionChanged)
    Q_PROPERTY(int      firmwareVersionType         READ firmwareVersionType        NOTIFY firmwareVersionChanged)
    Q_PROPERTY(QString  firmwareVersionTypeString   READ firmwareVersionTypeString  NOTIFY firmwareVersionChanged)
    Q_PROPERTY(int      firmwareCustomMajorVersion  READ firmwareCustomMajorVersion NOTIFY firmwareCustomVersionChanged)
    Q_PROPERTY(int      firmwareCustomMinorVersion  READ firmwareCustomMinorVersion NOTIFY firmwareCustomVersionChanged)
    Q_PROPERTY(int      firmwareCustomPatchVersion  READ firmwareCustomPatchVersion NOTIFY firmwareCustomVersionChanged)
    Q_PROPERTY(QString  gitHash                     READ gitHash                    NOTIFY gitHashChanged)
    Q_PROPERTY(quint64  vehicleUID                  READ vehicleUID                 NOTIFY vehicleUIDChanged)
    Q_PROPERTY(QString  vehicleUIDStr               READ vehicleUIDStr              NOTIFY vehicleUIDChanged)
 
    Q_PROPERTY(VehicleSigningController* signingController READ signingController CONSTANT)
 
    
    Q_INVOKABLE void resetCounters  ();
 
    Q_INVOKABLE void virtualTabletJoystickValue(double roll, double pitch, double yaw, double thrust);
 
    Q_INVOKABLE void guidedModeRTL(bool smartRTL);
 
    Q_INVOKABLE void guidedModeLand();
 
    Q_INVOKABLE void guidedModeTakeoff(double altitudeRelative);
 
    Q_INVOKABLE double minimumTakeoffAltitudeMeters();
 
    Q_INVOKABLE double maximumHorizontalSpeedMultirotorMetersSecond();
 
    Q_INVOKABLE double maximumEquivalentAirspeed();
 
    Q_INVOKABLE double minimumEquivalentAirspeed();
 
    Q_INVOKABLE bool guidedModeGotoLocation(const QGeoCoordinate& gotoCoord, double forwardFlightLoiterRadius = 0.0f);
 
    Q_INVOKABLE void guidedModeChangeAltitude(double altitudeChange, bool pauseVehicle);
 
    Q_INVOKABLE void guidedModeChangeHeading(const QGeoCoordinate &headingCoord);
 
    Q_INVOKABLE void guidedModeChangeGroundSpeedMetersSecond(double groundspeed);
    Q_INVOKABLE void guidedModeChangeEquivalentAirspeedMetersSecond(double airspeed);
 
    Q_INVOKABLE void guidedModeOrbit(const QGeoCoordinate& centerCoord, double radius, double amslAltitude);
 
    Q_INVOKABLE bool guidedModeROI(const QGeoCoordinate &centerCoord, double relativeAltitudeMeters);
    Q_INVOKABLE void stopGuidedModeROI();
 
    Q_INVOKABLE void pauseVehicle();
 
    Q_INVOKABLE void emergencyStop();
 
    Q_INVOKABLE void abortLanding(double climbOutAltitude);
 
    Q_INVOKABLE void landingGearDeploy();
 
    Q_INVOKABLE void landingGearRetract();
 
    Q_INVOKABLE void startTakeoff();
 
    Q_INVOKABLE void startMission();
 
    Q_INVOKABLE void setCurrentMissionSequence(int seq);
 
    Q_INVOKABLE void rebootVehicle();
 
    Q_INVOKABLE void sendPlan(QString planFile);
    Q_INVOKABLE void setEstimatorOrigin(const QGeoCoordinate& centerCoord);
 
    void setEstimatorOrigin_SET_GPS_GLOBAL_ORIGIN(const QGeoCoordinate& centerCoord);
 
    //  returns 1 if current > compare, 0 if current == compare, -1 if current < compare
    Q_INVOKABLE int versionCompare(const QString& compare) const;
    Q_INVOKABLE int versionCompare(int major, int minor, int patch) const;
 
    Q_INVOKABLE void motorTest(int motor, int percent, int timeoutSecs, bool showError);
 
    enum PIDTuningTelemetryMode {
        ModeDisabled,
        ModeRateAndAttitude,
        ModeVelocityAndPosition,
        ModeAltitudeAndAirspeed,
    };
    Q_ENUM(PIDTuningTelemetryMode)
 
    Q_INVOKABLE void setPIDTuningTelemetryMode(PIDTuningTelemetryMode mode);
 
    Q_INVOKABLE void forceArm           ();
 
    Q_INVOKABLE void sendParamMapRC(const QString& paramName, double scale, double centerValue, int tuningID, double minValue, double maxValue);
 
    Q_INVOKABLE void clearAllParamMapRC(void);
 
    Q_INVOKABLE void closeVehicle();
 
    Q_INVOKABLE void triggerSimpleCamera(void);
 
    Q_INVOKABLE void doSetHome(const QGeoCoordinate& coord);
 
    Q_INVOKABLE QVariant expandedToolbarIndicatorSource(const QString& indicatorName);
 
    bool    isInitialConnectComplete() const;
    QString gotoFlightMode          () const;
 
    VehicleSupports* supports() { return _vehicleSupports; }
    bool    hasGripper              () const;
    bool haveMRSpeedLimits() const { return _multirotor_speed_limits_available; }
    bool haveFWSpeedLimits() const { return _fixed_wing_airspeed_limits_available; }
 
    // Property accessors
 
    QGeoCoordinate coordinate() { return _coordinate; }
    QGeoCoordinate armedPosition    () { return _armedPosition; }
 
    qreal getInitialGCSPressure() const { return _initialGCSPressure; }
    qreal getInitialGCSTemperature() const { return _initialGCSTemperature; }
    void setInitialGCSPressure(qreal pressure) { _initialGCSPressure = pressure; }
    void setInitialGCSTemperature(qreal temperature) { _initialGCSTemperature = temperature; }
 
    void updateFlightDistance(double distance);
 
    void sendJoystickDataThreadSafe (float roll, float pitch, float yaw, float thrust, quint16 buttons, quint16 buttons2, float pitchExtension, float rollExtension, float aux1, float aux2, float aux3, float aux4, float aux5, float aux6);
    static constexpr int kAuxRcOverrideChannelCount = 6; 
    void sendJoystickAuxRcOverrideThreadSafe(const std::array<uint16_t, kAuxRcOverrideChannelCount> &channelValues, const std::array<bool, kAuxRcOverrideChannelCount> &channelEnabled, bool useRcOverride);
 
    // Property accesors
    int id() const{ return _systemID; }
    int compId() const{ return _compID; }
    MAV_AUTOPILOT firmwareType() const { return _firmwareType; }
    MAV_TYPE vehicleType() const { return _vehicleType; }
    QGCMAVLink::VehicleClass_t vehicleClass(void) const { return QGCMAVLink::vehicleClass(_vehicleType); }
    Q_INVOKABLE QString vehicleClassInternalName() const;
 
    bool sendMessageOnLinkThreadSafe(LinkInterface* link, mavlink_message_t message);
 
    void sendMessageMultiple(mavlink_message_t message);
 
    AutoPilotPlugin* autopilotPlugin() { return _autopilotPlugin; }
 
    FirmwarePlugin* firmwarePlugin() { return _firmwarePlugin; }
 
 
    QGeoCoordinate homePosition();
 
    bool armed              () const{ return _armed; }
    void setArmed           (bool armed, bool showError);
    void setArmedShowError  (bool armed) { setArmed(armed, true); }
 
    bool flightModeSetAvailable             ();
    QStringList flightModes                 ();
    QString flightMode                      () const;
    void setFlightMode                      (const QString& flightMode);
 
    bool airship() const;
 
    void pairRX(int rxType, int rxSubType);
 
    bool fixedWing() const;
    bool multiRotor() const;
    bool vtol() const;
    bool rover() const;
    bool sub() const;
    bool spacecraft() const;
 
 
 
    void setGuidedMode(bool guidedMode);
 
    QString prearmError() const { return _prearmError; }
    void setPrearmError(const QString& prearmError);
 
    QmlObjectListModel* cameraTriggerPoints ();
 
    //-- Mavlink Logging
    void startMavlinkLog();
    void stopMavlinkLog();
 
    void requestDataStream(MAV_DATA_STREAM stream, uint16_t rate, bool sendMultiple = true);
 
    // The follow method are used to turn on/off the tracking of settings updates for firmware/vehicle type on offline vehicles.
    void trackFirmwareVehicleTypeChanges(void);
    void stopTrackingFirmwareVehicleTypeChanges(void);
 
    float           latitude                    () { return static_cast<float>(_coordinate.latitude()); }
    float           longitude                   () { return static_cast<float>(_coordinate.longitude()); }
    bool            px4Firmware                 () const { return _firmwareType == MAV_AUTOPILOT_PX4; }
    bool            apmFirmware                 () const { return _firmwareType == MAV_AUTOPILOT_ARDUPILOTMEGA; }
    bool            genericFirmware             () const { return !px4Firmware() && !apmFirmware(); }
    uint            messagesReceived            () const{ return _messagesReceived; }
    uint            messagesSent                () const{ return _messagesSent; }
    uint            messagesLost                () const{ return _messagesLost; }
    bool            flying                      () const { return _flying; }
    bool            landing                     () const { return _landing; }
    bool            guidedMode                  () const;
    bool            inFwdFlight                 () const;
    bool            vtolInFwdFlight             () const { return _vtolInFwdFlight; }
    uint8_t         baseMode                    () const { return _base_mode; }
    uint32_t        customMode                  () const { return _custom_mode; }
    uint32_t        effectiveCustomMode         () const { return _has_custom_mode_user_intention ? _custom_mode_user_intention : _custom_mode; }
    bool            isOfflineEditingVehicle     () const { return _offlineEditingVehicle; }
    int             sensorsPresentBits          () const { return static_cast<int>(_onboardControlSensorsPresent); }
    int             sensorsEnabledBits          () const { return static_cast<int>(_onboardControlSensorsEnabled); }
    int             sensorsHealthBits           () const { return static_cast<int>(_onboardControlSensorsHealth); }
    int             sensorsUnhealthyBits        () const { return static_cast<int>(_onboardControlSensorsUnhealthy); }
    QString         missionFlightMode           () const;
    QString         pauseFlightMode             () const;
    QString         rtlFlightMode               () const;
    QString         smartRTLFlightMode          () const;
    QString         landFlightMode              () const;
    QString         takeControlFlightMode       () const;
    QString         followFlightMode            () const;
    QString         motorDetectionFlightMode    () const;
    QString         stabilizedFlightMode        () const;
    double          defaultCruiseSpeed          () const { return _defaultCruiseSpeed; }
    double          defaultHoverSpeed           () const { return _defaultHoverSpeed; }
    QString         firmwareTypeString          () const;
    QString         vehicleTypeString           () const;
    bool            autoDisarm                  ();
    bool            orbitActive                 () const { return _orbitActive; }
    QGCMapCircle*   orbitMapCircle              () { return _orbitMapCircle.get(); }
    bool            readyToFlyAvailable         () const{ return _readyToFlyAvailable; }
    bool            readyToFly                  () const{ return _readyToFly; }
    bool            allSensorsHealthy           () const{ return _allSensorsHealthy; }
    QObject*        sysStatusSensorInfo         ();
    bool            requiresGpsFix              () const { return static_cast<bool>(_onboardControlSensorsPresent & MAV_SYS_STATUS_SENSOR_GPS); }
    bool            hilMode                     () const { return _base_mode & MAV_MODE_FLAG_HIL_ENABLED; }
    Actuators*      actuators                   () const { return _actuators; }
    VehicleSigningController* signingController() { return _signingController; }
    const VehicleSigningController* signingController() const { return _signingController; }
 
    void startCalibration   (QGCMAVLink::CalibrationType calType);
    void stopCalibration    (bool showError);
 
    FactGroup* vehicleFactGroup             () { return _vehicleFactGroup; }
    FactGroup* gpsFactGroup                 ();
    FactGroup* gps2FactGroup                ();
    FactGroup* gpsAggregateFactGroup        ();
    FactGroup* windFactGroup                ();
    FactGroup* vibrationFactGroup           ();
    FactGroup* temperatureFactGroup         ();
    FactGroup* clockFactGroup               ();
    FactGroup* setpointFactGroup            ();
    FactGroup* distanceSensorFactGroup      ();
    FactGroup* localPositionFactGroup       ();
    FactGroup* localPositionSetpointFactGroup();
    FactGroup* estimatorStatusFactGroup     ();
    FactGroup* terrainFactGroup             ();
    FactGroup* hygrometerFactGroup          ();
    FactGroup* generatorFactGroup           ();
    FactGroup* efiFactGroup                 ();
    FactGroup* radioStatusFactGroup         ();
    FactGroup* rpmFactGroup                 ();
 
    QmlObjectListModel* batteries           ();
    QmlObjectListModel* escs                ();
 
    MissionManager*                 missionManager      () { return _missionManager; }
    GeoFenceManager*                geoFenceManager     () { return _geoFenceManager; }
    RallyPointManager*              rallyPointManager   () { return _rallyPointManager; }
    ParameterManager*               parameterManager    () { return _parameterManager; }
    ParameterManager*               parameterManager    () const { return _parameterManager; }
    VehicleLinkManager*             vehicleLinkManager  () { return _vehicleLinkManager; }
    FTPManager*                     ftpManager          () { return _ftpManager; }
    ComponentInformationManager*    compInfoManager     () { return _componentInformationManager; }
    VehicleObjectAvoidance*         objectAvoidance     () { return _objectAvoidance; }
    Autotune*                       autotune            () const { return _autotune; }
    RemoteIDManager*                remoteIDManager     () { return _remoteIDManager; }
 
    static void showCommandAckError(const mavlink_command_ack_t& ack);
 
    void sendMavCommand(int compId, MAV_CMD command, bool showError, float param1 = 0.0f, float param2 = 0.0f, float param3 = 0.0f, float param4 = 0.0f, float param5 = 0.0f, float param6 = 0.0f, float param7 = 0.0f);
    void sendMavCommandDelayed(int compId, MAV_CMD command, bool showError, int milliseconds, float param1 = 0.0f, float param2 = 0.0f, float param3 = 0.0f, float param4 = 0.0f, float param5 = 0.0f, float param6 = 0.0f, float param7 = 0.0f);
    void sendMavCommandInt(int compId, MAV_CMD command, MAV_FRAME frame, bool showError, float param1, float param2, float param3, float param4, double param5, double param6, float param7);
 
    bool isMavCommandPending(int targetCompId, MAV_CMD command);
 
    Q_INVOKABLE void sendCommand(int compId, int command, bool showError, double param1 = 0.0, double param2 = 0.0, double param3 = 0.0, double param4 = 0.0, double param5 = 0.0, double param6 = 0.0, double param7 = 0.0);
 
    static QString mavCmdResultFailureCodeToString(MavCmdResultFailureCode_t failureCode);
 
    // MavCmdProgressHandler, MavCmdResultHandler, MavCmdAckHandlerInfo_t are inherited from VehicleTypes.
 
    void sendMavCommandWithHandler(
        const MavCmdAckHandlerInfo_t* ackHandlerInfo,   
        int compId, MAV_CMD command,
        float param1 = 0.0f, float param2 = 0.0f, float param3 = 0.0f, float param4 = 0.0f, float param5 = 0.0f, float param6 = 0.0f, float param7 = 0.0f);
 
    void sendMavCommandIntWithHandler(
        const MavCmdAckHandlerInfo_t* ackHandlerInfo,   
        int compId, MAV_CMD command, MAV_FRAME frame,
        float param1 = 0.0f, float param2 = 0.0f, float param3 = 0.0f, float param4 = 0.0f, double param5 = 0.0f, double param6 = 0.0f, float param7 = 0.0f);
 
    void sendMavCommandWithLambdaFallback(
        std::function<void()> lambda,
        int compId, MAV_CMD command,
        bool showError,
        float param1 = 0.0f, float param2 = 0.0f, float param3 = 0.0f, float param4 = 0.0f, float param5 = 0.0f, float param6 = 0.0f, float param7 = 0.0f);
 
    void sendMavCommandIntWithLambdaFallback(
        std::function<void()> lambda,
        int compId, MAV_CMD command, MAV_FRAME frame,
        bool showError,
        float param1 = 0.0f, float param2 = 0.0f, float param3 = 0.0f, float param4 = 0.0f, double param5 = 0.0, double param6 = 0.0, float param7 = 0.0f);
 
 
    static QString requestMessageResultHandlerFailureCodeToString(RequestMessageResultHandlerFailureCode_t failureCode);
 
    // RequestMessageResultHandler is inherited from VehicleTypes.
 
    void requestMessage(RequestMessageResultHandler resultHandler, void* resultHandlerData, int compId, int messageId, float param1 = 0.0f, float param2 = 0.0f, float param3 = 0.0f, float param4 = 0.0f, float param5 = 0.0f);
 
    int firmwareMajorVersion() const { return _firmwareMajorVersion; }
    int firmwareMinorVersion() const { return _firmwareMinorVersion; }
    int firmwarePatchVersion() const { return _firmwarePatchVersion; }
    int firmwareVersionType() const { return _firmwareVersionType; }
    int firmwareCustomMajorVersion() const { return _firmwareCustomMajorVersion; }
    int firmwareCustomMinorVersion() const { return _firmwareCustomMinorVersion; }
    int firmwareCustomPatchVersion() const { return _firmwareCustomPatchVersion; }
    int firmwareBoardVendorId() const { return _firmwareBoardVendorId; }
    int firmwareBoardProductId() const { return _firmwareBoardProductId; }
    QString firmwareVersionTypeString() const;
    void setFirmwareVersion(int majorVersion, int minorVersion, int patchVersion, FIRMWARE_VERSION_TYPE versionType = FIRMWARE_VERSION_TYPE_OFFICIAL);
    void setFirmwareCustomVersion(int majorVersion, int minorVersion, int patchVersion);
    // versionNotSetValue inherited from VehicleTypes
 
    QString gitHash() const { return _gitHash; }
    quint64 vehicleUID() const { return _uid; }
    QString vehicleUIDStr();
 
    bool soloFirmware() const { return _soloFirmware; }
    void setSoloFirmware(bool soloFirmware);
 
    int defaultComponentId() const{ return _defaultComponentId; }
 
    void setOfflineEditingDefaultComponentId(int defaultComponentId);
 
    int motorCount();
 
    bool coaxialMotors();
 
    bool xConfigMotors();
 
    class FirmwarePluginInstanceData* firmwarePluginInstanceData() { return _firmwarePluginInstanceData; }
 
    void setFirmwarePluginInstanceData(FirmwarePluginInstanceData* firmwarePluginInstanceData);
 
    QString vehicleImageOpaque  () const;
    QString vehicleImageOutline () const;
 
    const QVariantList&         toolIndicators();
 
    bool capabilitiesKnown      () const { return _capabilityBitsKnown; }
    uint64_t capabilityBits     () const { return _capabilityBits; }    // Change signalled by capabilityBitsChanged
 
    QString                     hobbsMeter          ();
 
    bool initialPlanRequestComplete() const { return _initialPlanRequestComplete; }
 
    void forceInitialPlanRequestComplete();
 
    void _setFlying(bool flying);
    void _setLanding(bool landing);
    void _setHomePosition(QGeoCoordinate& homeCoord);
 
    void prepareDelete();
 
    void deleteGimbalController();
 
    quint64     mavlinkSentCount        () const{ return _mavlinkSentCount; }        
    quint64     mavlinkReceivedCount    () const{ return _mavlinkReceivedCount; }    
    quint64     mavlinkLossCount        () const{ return _mavlinkLossCount; }        
    float       mavlinkLossPercent      () const{ return _mavlinkLossPercent; }      
 
    bool        isROIEnabled            () const{ return _isROIEnabled; }
 
    double      roiRelativeAltitudeMeters() const{ return _roiRelativeAltitudeMeters; }
 
    CheckList   checkListState          () { return _checkListState; }
    void        setCheckListState       (CheckList cl)  { _checkListState = cl; emit checkListStateChanged(); }
 
    double loadProgress                 () const { return _loadProgress; }
 
    void setActuatorsMetadata(uint8_t compid, const QString& metadataJsonFileName, const QJsonDocument& metadataJson);
 
    GimbalController* gimbalController  () { return _gimbalController; }
 
public slots:
    void setVtolInFwdFlight                 (bool vtolInFwdFlight);
    void _offlineFirmwareTypeSettingChanged (QVariant varFirmwareType); // Should only be used by MissionControler to set firmware from Plan file
    void _offlineVehicleTypeSettingChanged  (QVariant varVehicleType);  // Should only be used by MissionController to set vehicle type from Plan file
    Q_INVOKABLE void sendGripperAction(GRIPPER_ACTIONS gripperOption);
 
signals:
    void coordinateChanged              (QGeoCoordinate coordinate);
    void mavlinkMessageReceived         (const mavlink_message_t& message);
    void homePositionChanged            (const QGeoCoordinate& homePosition);
    void armedPositionChanged();
    void armedChanged                   (bool armed);
    void flightModeChanged              (const QString& flightMode);
    void flyingChanged                  (bool flying);
    void landingChanged                 (bool landing);
    void guidedModeChanged              (bool guidedMode);
    void inFwdFlightChanged             ();
    void vtolInFwdFlightChanged         (bool vtolInFwdFlight);
    void prearmErrorChanged             (const QString& prearmError);
    void soloFirmwareChanged            (bool soloFirmware);
    void defaultCruiseSpeedChanged      (double cruiseSpeed);
    void defaultHoverSpeedChanged       (double hoverSpeed);
    void firmwareTypeChanged            ();
    void vehicleTypeChanged             ();
    void hobbsMeterChanged              ();
    void capabilitiesKnownChanged       (bool capabilitiesKnown);
    void initialPlanRequestCompleteChanged(bool initialPlanRequestComplete);
    void capabilityBitsChanged          (uint64_t capabilityBits);
    void toolIndicatorsChanged          ();
    void checkListStateChanged          ();
    void longitudeChanged               ();
    void currentConfigChanged           ();
    void autoDisarmChanged              ();
    void flightModesChanged             ();
    void sensorsPresentBitsChanged      (int sensorsPresentBits);
    void sensorsEnabledBitsChanged      (int sensorsEnabledBits);
    void sensorsHealthBitsChanged       (int sensorsHealthBits);
    void sensorsUnhealthyBitsChanged    (int sensorsUnhealthyBits);
    void orbitActiveChanged             (bool orbitActive);
    void readyToFlyAvailableChanged     (bool readyToFlyAvailable);
    void readyToFlyChanged              (bool readyToFy);
    void allSensorsHealthyChanged       (bool allSensorsHealthy);
    void requiresGpsFixChanged          ();
    void haveMRSpeedLimChanged          ();
    void haveFWSpeedLimChanged          ();
    void hasGripperChanged              ();
 
    void firmwareVersionChanged         ();
    void firmwareCustomVersionChanged   ();
    void gitHashChanged                 (QString hash);
    void vehicleUIDChanged              ();
    void loadProgressChanged            (float value);
 
    void rcChannelsRawChanged(QVector<int> channelValues);
 
    void rcChannelsClampedChanged(QVector<int> channelValues);
 
    void servoOutputsChanged(QVector<int> servoValues);
 
    // Mavlink Log Download
    void mavlinkLogData                 (Vehicle* vehicle, uint8_t target_system, uint8_t target_component, uint16_t sequence, uint8_t first_message, QByteArray data, bool acked);
 
    void mavCommandResult               (int vehicleId, int targetComponent, int command, int ackResult, int failureCode);
 
    // MAVlink Serial Data
    void mavlinkSerialControl           (uint8_t device, uint8_t flags, uint16_t timeout, uint32_t baudrate, QByteArray data);
 
    void mavlinkStatusChanged           ();
 
    void isROIEnabledChanged            ();
    void roiRelativeAltitudeMetersChanged();
    void roiCoordChanged                (const QGeoCoordinate& centerCoord);
    void initialConnectComplete         ();
 
    void sensorsParametersResetAck      (bool success);
 
    void logEntry                       (uint32_t time_utc, uint32_t size, uint16_t id, uint16_t num_logs, uint16_t last_log_num);
    void logData                        (uint32_t ofs, uint16_t id, uint8_t count, const uint8_t* data);
 
private slots:
    void _mavlinkMessageReceived            (LinkInterface* link, mavlink_message_t message);
    void _sendMessageMultipleNext           ();
    void _parametersReady                   (bool parametersReady);
    void _handleFlightModeChanged           (const QString& flightMode);
    void _announceArmedChanged              (bool armed);
    void _offlineCruiseSpeedSettingChanged  (QVariant value);
    void _offlineHoverSpeedSettingChanged   (QVariant value);
    void _prearmErrorTimeout                ();
    void _firstMissionLoadComplete          ();
    void _firstGeoFenceLoadComplete         ();
    void _firstRallyPointLoadComplete       ();
    void _clearCameraTriggerPoints          ();
    void _updateDistanceHeadingHome         ();
    void _updateMissionItemIndex            ();
    void _updateHeadingToNextWP             ();
    void _updateDistanceHeadingGCS          ();
    void _updateHomepoint                   ();
    void _updateHobbsMeter                  ();
    void _vehicleParamLoaded                (bool ready);
    void _sendQGCTimeToVehicle              ();
    void _mavlinkMessageStatus              (int uasId, uint64_t totalSent, uint64_t totalReceived, uint64_t totalLoss, float lossPercent);
    void _orbitTelemetryTimeout             ();
    void _updateFlightTime                  ();
    void _gotProgressUpdate                 (float progressValue);
 
private:
    void _activeVehicleChanged          (Vehicle* newActiveVehicle);
    void _handlePing                    (LinkInterface* link, mavlink_message_t& message);
    void _handleHomePosition            (mavlink_message_t& message);
    void _handleHeartbeat               (mavlink_message_t& message);
    void _handleCurrentMode             (mavlink_message_t& message);
    void _handleRCChannels              (mavlink_message_t& message);
    void _handleBatteryStatus           (mavlink_message_t& message);
    void _handleSysStatus               (mavlink_message_t& message);
    void _handleExtendedSysState        (mavlink_message_t& message);
    void _handleCommandAck              (mavlink_message_t& message);
    void _handleGpsRawInt               (mavlink_message_t& message);
    void _handleGlobalPositionInt       (mavlink_message_t& message);
    void _handleHighLatency             (mavlink_message_t& message);
    void _handleHighLatency2            (mavlink_message_t& message);
    void _handleOrbitExecutionStatus    (const mavlink_message_t& message);
    void _handleGimbalOrientation       (const mavlink_message_t& message);
    void _handleObstacleDistance        (const mavlink_message_t& message);
    void _handleFenceStatus             (const mavlink_message_t& message);
 
    // ArduPilot dialect messages
    void _handleCameraFeedback          (const mavlink_message_t& message);
    void _handleCameraImageCaptured     (const mavlink_message_t& message);
    void _handleCommandLong             (const mavlink_message_t& message);
    void _missionManagerError           (int errorCode, const QString& errorMsg);
    void _geoFenceManagerError          (int errorCode, const QString& errorMsg);
    void _rallyPointManagerError        (int errorCode, const QString& errorMsg);
    void _say                           (const QString& text);
    QString _vehicleIdSpeech            ();
    void _handleMavlinkLoggingData      (mavlink_message_t& message);
    void _handleMavlinkLoggingDataAcked (mavlink_message_t& message);
    void _ackMavlinkLogData             (uint16_t sequence);
    void _commonInit                    (LinkInterface* link);
    void _setupAutoDisarmSignalling     ();
    void _setCapabilities               (uint64_t capabilityBits);
    void _updateArmed                   (bool armed);
    bool _apmArmingNotRequired          ();
    void _initializeCsv                 ();
    void _writeCsvLine                  ();
    void _flightTimerStart              ();
    void _flightTimerStop               ();
    void _setMessageInterval            (int messageId, int rate);
    bool setFlightModeCustom            (const QString& flightMode, uint8_t* base_mode, uint32_t* custom_mode);
    QString _formatMavCommand           (MAV_CMD command, float param1);
 
    static void _rebootCommandResultHandler(void* resultHandlerData, int compId, const mavlink_command_ack_t& ack, MavCmdResultFailureCode_t failureCode);
 
    // The following methods should only be called by unit tests
    void _deleteGimbalController();
    void _deleteCameraManager();
 
    void _stopCommandProcessing();
 
    int     _systemID;                    
    int     _defaultComponentId;
    bool    _offlineEditingVehicle = false; 
 
    MAV_AUTOPILOT       _firmwareType;
    MAV_TYPE            _vehicleType;
    FirmwarePlugin*     _firmwarePlugin = nullptr;
    class FirmwarePluginInstanceData*            _firmwarePluginInstanceData = nullptr;
    AutoPilotPlugin*    _autopilotPlugin = nullptr;
    bool                _soloFirmware = false;
 
    QTimer              _csvLogTimer;
    QFile               _csvLogFile;
 
    bool _isActiveVehicle = false;
 
    QGeoCoordinate  _coordinate;
    QGeoCoordinate  _homePosition;
    QGeoCoordinate  _armedPosition;
 
    qreal           _initialGCSPressure = 0.;
    qreal           _initialGCSTemperature = 0.;
 
    bool            _flying = false;
    bool            _landing = false;
    bool            _vtolInFwdFlight = false;
    uint32_t        _onboardControlSensorsPresent = 0;
    uint32_t        _onboardControlSensorsEnabled = 0;
    uint32_t        _onboardControlSensorsHealth = 0;
    uint32_t        _onboardControlSensorsUnhealthy = 0;
    bool            _gpsRawIntMessageAvailable              = false;
    bool            _gps2RawMessageAvailable                = false;
    bool            _globalPositionIntMessageAvailable      = false;
    bool            _cameraImageCapturedMessageAvailable    = false;
    double          _defaultCruiseSpeed = qQNaN();
    double          _defaultHoverSpeed = qQNaN();
    bool            _capabilityBitsKnown                    = false;
    uint64_t        _capabilityBits                         = 0;
    CheckList       _checkListState                         = CheckListNotSetup;
    bool            _readyToFlyAvailable                    = false;
    bool            _readyToFly                             = false;
    bool            _allSensorsHealthy                      = true;
    VehicleSigningController* _signingController            = nullptr;
    std::atomic<bool> _joystickAuxRcOverrideActive           = false;
 
    std::unique_ptr<SysStatusSensorInfo> _sysStatusSensorInfo;
 
 
    QString             _prearmError;
    QTimer              _prearmErrorTimer;
    static const int    _prearmErrorTimeoutMSecs = 35 * 1000;   
 
    bool                _initialPlanRequestComplete = false;
 
    ParameterManager*               _parameterManager               = nullptr;
    ComponentInformationManager*    _componentInformationManager    = nullptr;
    VehicleObjectAvoidance*         _objectAvoidance                = nullptr;
    Autotune*                       _autotune                       = nullptr;
    GimbalController*               _gimbalController               = nullptr;
    VehicleSupports*                _vehicleSupports                = nullptr;
 
    bool    _armed = false;         
    uint8_t _base_mode = 0;     
    uint32_t _custom_mode = 0;  
    uint32_t _custom_mode_user_intention = 0;  
    bool _has_custom_mode_user_intention = false;
    QString _lastAnnouncedFlightMode;
 
    typedef struct {
        mavlink_message_t   message;    
        int                 retryCount; 
    } SendMessageMultipleInfo_t;
 
    QList<SendMessageMultipleInfo_t> _sendMessageMultipleList;    
 
    static const int _sendMessageMultipleRetries = 5;
    static const int _sendMessageMultipleIntraMessageDelay = 500;
 
    QTimer  _sendMultipleTimer;
    int     _nextSendMessageMultipleIndex = 0;
 
    QElapsedTimer                   _flightTimer;
    QTimer                          _flightTimeUpdater;
    TrajectoryPoints*               _trajectoryPoints = nullptr;
    std::unique_ptr<QmlObjectListModel> _cameraTriggerPoints;
    //QMap<QString, ADSBVehicle*>     _trafficVehicleMap;
 
    bool _allLinksRemovedSent = false; 
 
    uint                _messagesReceived = 0;
    uint                _messagesSent = 0;
    uint                _messagesLost = 0;
    uint8_t             _messageSeq = 0;
    uint8_t             _compID = 0;
    bool                _heardFrom = false;
 
    bool                _isROIEnabled   = false;
    double              _roiRelativeAltitudeMeters = 0;
\
    bool _checkLatestStableFWDone = false;
    int _firmwareMajorVersion = versionNotSetValue;
    int _firmwareMinorVersion = versionNotSetValue;
    int _firmwarePatchVersion = versionNotSetValue;
    int _firmwareCustomMajorVersion = versionNotSetValue;
    int _firmwareCustomMinorVersion = versionNotSetValue;
    int _firmwareCustomPatchVersion = versionNotSetValue;
    FIRMWARE_VERSION_TYPE _firmwareVersionType = FIRMWARE_VERSION_TYPE_OFFICIAL;
 
    // Vendor and Product as reported from the first autopilot version message
    // during the initial connect. They may be zero eg ArduPilot SITL reports 0
    // by default.
    uint16_t       _firmwareBoardVendorId = 0;
    uint16_t       _firmwareBoardProductId = 0;
 
 
    QString _gitHash;
    quint64 _uid = 0;
 
    uint64_t    _mavlinkSentCount       = 0;
    uint64_t    _mavlinkReceivedCount   = 0;
    uint64_t    _mavlinkLossCount       = 0;
    float       _mavlinkLossPercent     = 0.0f;
 
    float       _loadProgress           = 0.0f;
 
    QMap<QString, QTime> _noisySpokenPrearmMap; 
 
    // Orbit status values
    bool            _orbitActive = false;
    std::unique_ptr<QGCMapCircle> _orbitMapCircle;
    QTimer          _orbitTelemetryTimer;
    static const int _orbitTelemetryTimeoutMsecs = 3000; // No telemetry for this amount and orbit will go inactive
 
    std::unique_ptr<MAVLinkStreamConfig> _mavlinkStreamConfig;
 
    MavCommandQueue*            _mavCmdQueue    = nullptr;
    RequestMessageCoordinator*  _reqMsgCoord    = nullptr;
 
public:
    static constexpr int _mavCommandMaxRetryCount    = 3;
    static constexpr int kTestMavCommandAckTimeoutMs = 500;
    static constexpr int kTestMavCommandMaxWaitMs    = kTestMavCommandAckTimeoutMs * _mavCommandMaxRetryCount * 2;
 
    int  _findMavCommandListEntryIndex(int targetCompId, MAV_CMD command);
 
    QMap<uint8_t /* batteryId */, uint8_t /* MAV_BATTERY_CHARGE_STATE_OK */> _lowestBatteryChargeStateAnnouncedMap;
 
    float _altitudeTuningOffset = qQNaN(); // altitude offset, so the plotted value is around 0
 
    // these flags are used to determine if the speed change action from fly view should be shown
    bool _multirotor_speed_limits_available = false;
    bool _fixed_wing_airspeed_limits_available = false;
 
    // FactGroup facts
 
    const QString _vehicleFactGroupName =            QStringLiteral("vehicle");
    const QString _gpsFactGroupName =                QStringLiteral("gps");
    const QString _gps2FactGroupName =               QStringLiteral("gps2");
    const QString _gpsAggregateFactGroupName =       QStringLiteral("gpsAggregate");
    const QString _windFactGroupName =               QStringLiteral("wind");
    const QString _vibrationFactGroupName =          QStringLiteral("vibration");
    const QString _temperatureFactGroupName =        QStringLiteral("temperature");
    const QString _clockFactGroupName =              QStringLiteral("clock");
    const QString _setpointFactGroupName =           QStringLiteral("setpoint");
    const QString _distanceSensorFactGroupName =     QStringLiteral("distanceSensor");
    const QString _localPositionFactGroupName =      QStringLiteral("localPosition");
    const QString _localPositionSetpointFactGroupName = QStringLiteral("localPositionSetpoint");
    const QString _estimatorStatusFactGroupName =    QStringLiteral("estimatorStatus");
    const QString _terrainFactGroupName =            QStringLiteral("terrain");
    const QString _hygrometerFactGroupName =         QStringLiteral("hygrometer");
    const QString _generatorFactGroupName =          QStringLiteral("generator");
    const QString _efiFactGroupName =                QStringLiteral("efi");
    const QString _rpmFactGroupName =                QStringLiteral("rpm");
    const QString _radioStatusFactGroupName =        QStringLiteral("radioStatus");
 
    VehicleFactGroup*               _vehicleFactGroup;
    VehicleGPSFactGroup*                _gpsFactGroup               = nullptr;
    VehicleGPS2FactGroup*               _gps2FactGroup              = nullptr;
    VehicleGPSAggregateFactGroup*       _gpsAggregateFactGroup      = nullptr;
    VehicleWindFactGroup*               _windFactGroup              = nullptr;
    VehicleVibrationFactGroup*          _vibrationFactGroup         = nullptr;
    VehicleTemperatureFactGroup*        _temperatureFactGroup       = nullptr;
    VehicleClockFactGroup*              _clockFactGroup             = nullptr;
    VehicleSetpointFactGroup*           _setpointFactGroup          = nullptr;
    VehicleDistanceSensorFactGroup*     _distanceSensorFactGroup    = nullptr;
    VehicleLocalPositionFactGroup*      _localPositionFactGroup     = nullptr;
    VehicleLocalPositionSetpointFactGroup* _localPositionSetpointFactGroup = nullptr;
    VehicleEstimatorStatusFactGroup*    _estimatorStatusFactGroup   = nullptr;
    VehicleHygrometerFactGroup*         _hygrometerFactGroup        = nullptr;
    VehicleGeneratorFactGroup*          _generatorFactGroup         = nullptr;
    VehicleEFIFactGroup*                _efiFactGroup               = nullptr;
    VehicleRPMFactGroup*                _rpmFactGroup               = nullptr;
    TerrainFactGroup*                   _terrainFactGroup           = nullptr;
    RadioStatusFactGroup*               _radioStatusFactGroup       = nullptr;
 
    // Live SERVO_OUTPUT_RAW values (microseconds). Indexed 0..15 -> SERVO1..SERVO16.
    QVector<int>                       _servoOutputRawValues = QVector<int>(16, -1);
 
    // Dynamic FactGroups
    BatteryFactGroupListModel*          _batteryFactGroupListModel  = nullptr;
    EscStatusFactGroupListModel*        _escStatusFactGroupListModel = nullptr;
 
    TerrainProtocolHandler* _terrainProtocolHandler = nullptr;
 
    MissionManager*                 _missionManager             = nullptr;
    GeoFenceManager*                _geoFenceManager            = nullptr;
    RallyPointManager*              _rallyPointManager          = nullptr;
    VehicleLinkManager*             _vehicleLinkManager         = nullptr;
    FTPManager*                     _ftpManager                 = nullptr;
    InitialConnectStateMachine*     _initialConnectStateMachine = nullptr;
    Actuators*                      _actuators                  = nullptr;
    RemoteIDManager*                _remoteIDManager            = nullptr;
    StandardModes*                  _standardModes              = nullptr;
 
    // All terrain query workflows (doSetHome, ROI, altAboveTerrain) live in the coordinator.
    TerrainQueryCoordinator*    _terrainQueryCoordinator = nullptr;
 
public:
    int32_t getMessageRate(uint8_t compId, uint16_t msgId);
    void setMessageRate(uint8_t compId, uint16_t msgId, int32_t rate);
 
signals:
    // Re-emitted from MessageIntervalManager so existing consumers keep working.
    void mavlinkMsgIntervalsChanged(uint8_t compid, uint16_t msgId, int32_t rate);
 
private:
    MessageIntervalManager* _messageIntervalManager = nullptr;
 
/*---------------------------------------------------------------------------*/
/*===========================================================================*/
/*                         ardupilotmega Dialect                             */
/*===========================================================================*/
public:
    Q_INVOKABLE void flashBootloader();
 
    Q_INVOKABLE void motorInterlock(bool enable);
 
/*---------------------------------------------------------------------------*/
/*===========================================================================*/
/*                         CONTROL STATUS HANDLER                            */
/*===========================================================================*/
public:
    Q_INVOKABLE void startTimerRevertAllowTakeover();
    Q_INVOKABLE void requestOperatorControl(bool allowOverride, int requestTimeoutSecs = 0);
 
private:
    void _handleControlStatus(const mavlink_message_t& message);
    void _handleCommandRequestOperatorControl(const mavlink_command_long_t commandLong);
    static void _requestOperatorControlAckHandler(void* resultHandlerData, int compId, const mavlink_command_ack_t& ack, MavCmdResultFailureCode_t failureCode);
 
    Q_PROPERTY(uint8_t gcsMain                               READ gcsMain                               NOTIFY gcsControlStatusChanged)
    Q_PROPERTY(bool    gcsControlStatusFlags_SystemManager   READ gcsControlStatusFlags_SystemManager   NOTIFY gcsControlStatusChanged)
    Q_PROPERTY(bool    gcsControlStatusFlags_TakeoverAllowed READ gcsControlStatusFlags_TakeoverAllowed NOTIFY gcsControlStatusChanged)
    Q_PROPERTY(bool    firstControlStatusReceived            READ firstControlStatusReceived            NOTIFY gcsControlStatusChanged)
    Q_PROPERTY(int     operatorControlTakeoverTimeoutMsecs   READ operatorControlTakeoverTimeoutMsecs   CONSTANT)
    Q_PROPERTY(int     requestOperatorControlRemainingMsecs  READ requestOperatorControlRemainingMsecs  CONSTANT)
    Q_PROPERTY(bool    sendControlRequestAllowed             READ sendControlRequestAllowed             NOTIFY sendControlRequestAllowedChanged)
 
    uint8_t gcsMain() const { return _gcsMain; }
    bool    gcsControlStatusFlags_SystemManager() const { return _gcsControlStatusFlags_SystemManager; }
    bool    gcsControlStatusFlags_TakeoverAllowed() const { return _gcsControlStatusFlags_TakeoverAllowed; }
    bool    firstControlStatusReceived() const { return _firstControlStatusReceived; }
    int     operatorControlTakeoverTimeoutMsecs() const;
    int     requestOperatorControlRemainingMsecs() const { return _timerRequestOperatorControl.remainingTime(); }
    bool    sendControlRequestAllowed() const { return _sendControlRequestAllowed; }
    void    requestOperatorControlStartTimer(int requestTimeoutMsecs);
 
    uint8_t _gcsMain = 0;
    uint8_t _gcsControlStatusFlags = 0;
    bool    _gcsControlStatusFlags_SystemManager = 0;
    bool    _gcsControlStatusFlags_TakeoverAllowed = 0;
    bool    _firstControlStatusReceived = false;
    QTimer  _timerRevertAllowTakeover;
    QTimer  _timerRequestOperatorControl;
    bool    _sendControlRequestAllowed = true;
 
signals:
    void gcsControlStatusChanged();
    void requestOperatorControlReceived(int sysIdRequestingControl, int allowTakeover, int requestTimeoutSecs);
    void sendControlRequestAllowedChanged(bool sendControlRequestAllowed);
 
/*===========================================================================*/
/*                         STATUS TEXT HANDLER                               */
/*===========================================================================*/
private:
    Q_PROPERTY(bool    messageTypeNone    READ messageTypeNone    NOTIFY messageTypeChanged)
    Q_PROPERTY(bool    messageTypeNormal  READ messageTypeNormal  NOTIFY messageTypeChanged)
    Q_PROPERTY(bool    messageTypeWarning READ messageTypeWarning NOTIFY messageTypeChanged)
    Q_PROPERTY(bool    messageTypeError   READ messageTypeError   NOTIFY messageTypeChanged)
    Q_PROPERTY(int     messageCount       READ messageCount       NOTIFY messageCountChanged)
    Q_PROPERTY(QString formattedMessages  READ formattedMessages  NOTIFY formattedMessagesChanged)
 
    // Q_PROPERTY(StatusTextHandler *statusTextHandler READ statusTextHandler NOTIFY statusTextHandlerChanged)
 
public:
    Q_INVOKABLE void resetAllMessages();
    Q_INVOKABLE void resetErrorLevelMessages();
    Q_INVOKABLE void clearMessages();
 
    bool messageTypeNone() const;
    bool messageTypeNormal() const;
    bool messageTypeWarning() const;
    bool messageTypeError() const;
    int messageCount() const;
    QString formattedMessages() const;
 
    // StatusTextHandler* statusTextHandler() { return m_statusTextHandler; }
 
signals:
    void textMessageReceived(int sysid, int componentid, int severity, QString text, QString description);
 
    void messagesReceivedChanged();
    void messagesSentChanged();
    void messagesLostChanged();
    void messageTypeChanged();
    void messageCountChanged();
    void formattedMessagesChanged();
    void newFormattedMessage(QString formattedMessage);
 
    // void statusTextHandlerChanged();
 
private slots:
    void _onStatusTextFromEvent(uint8_t compid, int severity, const QString &text, const QString &description);
    void _textMessageReceived(MAV_COMPONENT componentid, MAV_SEVERITY severity, QString text, QString description);
    void _errorMessageReceived(QString message);
 
private:
    void _createStatusTextHandler();
 
    StatusTextHandler *m_statusTextHandler = nullptr;
 
/*---------------------------------------------------------------------------*/
/*===========================================================================*/
/*                        Image Protocol Manager                             */
/*===========================================================================*/
private:
    Q_PROPERTY(uint flowImageIndex READ flowImageIndex NOTIFY flowImageIndexChanged)
 
public:
    uint32_t flowImageIndex() const;
 
signals:
    void flowImageIndexChanged();
 
private:
    void _createImageProtocolManager();
    void _createSigningController();
 
    ImageProtocolManager *_imageProtocolManager = nullptr;
 
/*---------------------------------------------------------------------------*/
/*===========================================================================*/
/*                         MAVLink Log Manager                               */
/*===========================================================================*/
private:
    Q_PROPERTY(MAVLinkLogManager *mavlinkLogManager READ mavlinkLogManager NOTIFY mavlinkLogManagerChanged)
 
public:
    MAVLinkLogManager *mavlinkLogManager() const;
 
signals:
    void mavlinkLogManagerChanged();
 
private:
    void _createMAVLinkLogManager();
 
    MAVLinkLogManager *_mavlinkLogManager = nullptr;
 
/*---------------------------------------------------------------------------*/
/*===========================================================================*/
/*                             Camera Manager                                */
/*===========================================================================*/
private:
    Q_MOC_INCLUDE("QGCCameraManager.h")
    Q_PROPERTY(QGCCameraManager *cameraManager READ cameraManager NOTIFY cameraManagerChanged)
    Q_PROPERTY(QVariantList staticCameraList READ staticCameraList CONSTANT)
 
public:
    QGCCameraManager *cameraManager() { return _cameraManager; }
    const QVariantList &staticCameraList() const;
 
signals:
    void cameraManagerChanged();
 
private:
    void _createCameraManager();
 
    QGCCameraManager *_cameraManager = nullptr;
 
/*---------------------------------------------------------------------------*/
/*===========================================================================*/
/*                          MAVLinkEventsManager                             */
/*===========================================================================*/
private:
    Q_MOC_INCLUDE("HealthAndArmingCheckReport.h")
    Q_PROPERTY(HealthAndArmingCheckReport* healthAndArmingCheckReport READ healthAndArmingCheckReport CONSTANT)
 
public:
    HealthAndArmingCheckReport* healthAndArmingCheckReport();
 
    void setEventsMetadata(uint8_t compid, const QString& metadataJsonFileName);
 
private:
    void _createMAVLinkEventManager();
    void _handleEventMessage(const mavlink_message_t& msg);
    bool _healthAndArmingChecksSupported(uint8_t compid);
 
    std::unique_ptr<MAVLinkEventManager> _eventManager;
};