{

Q_OBJECT

public:

explicit Vehicle(SerialLink* link, int vehicleId, MAV_TYPE vehicleType,PX4FirmwarePlugin* firmwarePlugin);

~Vehicle();

/// Provides access to uas from vehicle. Temporary workaround until AutoPilotPlugin is fully phased out.

PX4AutopilotPlugin* autopilotPlugin(void) {return _autopilotPlugin;}

UAS* uas(void) {return _uas;}

ParameterLoader* parameterLoader(void) {return _parameterLoader;}

PX4FirmwarePlugin* firmwarePlugin(void) {return _firmwarePlugin;}

LinkManager* linkManager(void) { return _linkMgr;}

int id(void) { return _vehicleId;}

void setActive(bool active);

QString flightMode(uint8_t baseMode, uint32_t customMode);

/// Returns the list of available flight modes

QStringList flightModes();

bool armed(void) {return _armed;}

bool active(void) {return _active;}

static const int maxRCChannelsCount = 18;

signals:

void linkDeleted(Vehicle* vehicle);

void vehicleAdded(Vehicle* vehicle);

void modeChanged(QString shortModeText);

void armedChanged(bool armed);

void telemetryChanged(uint8_t rssi);

void attitudeChanged(mavlink_attitude_t* attitude);

void altitudeChanged(float pressure_alt);

void batteryChanged(uint16_t voltage_battery);

void GPSStatusChanged(mavlink_gps_raw_int_t* gps_raw_int);

void globalPositionChanged(mavlink_global_position_int_t* global_position_int);

void localPositionChanged(mavlink_local_position_ned_t* local_position);

void groundSpeedChanged(float);

void rcChannelsChanged(int channelCount,int pwmValues[maxRCChannelsCount]);

void parameterReadyVehicleAvailableChanged(bool parameterReadyVehicleAvailable);

//void activeVehicleChanged(Vehicle* activeVehicle);

///For test

void paramUpdate(int paramCount,QString paramName,FactMetaData::ValueType_t type,QVariant& value);

public slots:

void _linkDeleted(SerialLink* link);

void _mavlinkMessageReceived(SerialLink*link, mavlink_message_t &message);

///For test

void _paramUpdate(int paramCount,QString paramName,FactMetaData::ValueType_t type,QVariant& value);

private:

void _addLink(SerialLink* link);

void _handleHeartbeat(mavlink_message_t& message);

PX4FirmwarePlugin* _firmwarePlugin;

PX4AutopilotPlugin* _autopilotPlugin;

SerialLink* _link;

int _vehicleId;

MAV_TYPE _vehicleType;

LinkManager * _linkMgr;

UAS* _uas;

ParameterLoader* _parameterLoader;

uint8_t _compID;

bool _heardFrom;

bool _active;

//flight modes

uint8_t _base_mode;

uint32_t _custom_mode;

bool _armed;

static const char* manualFMode;

static const char* stabilizedFMode;

static const char* altCtlFMode; //ALT_CTRL

static const char* posCtlFMode; //POS_CTRL

static const char* offboardFMode; //OFFBOARD

static const char* rtlFMode; //AUTO_RTL

static const char* loiterFMode; //AUTO_LOITER