mavlink_receiver.cpp

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/**
 * @file mavlink_receiver.cpp
 * MAVLink protocol message receive and dispatch
 *
 * @author Lorenz Meier <lorenz@px4.io>
 * @author Anton Babushkin <anton@px4.io>
 * @author Thomas Gubler <thomas@px4.io>
 */

#include <airspeed/airspeed.h>
#include <commander/px4_custom_mode.h>
#include <conversion/rotation.h>
#include <drivers/drv_rc_input.h>
#include <drivers/drv_tone_alarm.h>
#include <ecl/geo/geo.h>
#include <systemlib/px4_macros.h>

#ifdef CONFIG_NET
#include <net/if.h>
#include <arpa/inet.h>
#include <netinet/in.h>
#endif

#ifdef __PX4_DARWIN
#include <sys/param.h>
#include <sys/mount.h>
#else
#include <sys/statfs.h>
#endif

#ifndef __PX4_POSIX
#include <termios.h>
#endif

#include "mavlink_command_sender.h"
#include "mavlink_main.h"
#include "mavlink_receiver.h"

#ifdef CONFIG_NET
#define MAVLINK_RECEIVER_NET_ADDED_STACK 1360
#else
#define MAVLINK_RECEIVER_NET_ADDED_STACK 0
#endif

using matrix::wrap_2pi;

MavlinkReceiver::MavlinkReceiver(Mavlink *parent) :
    ModuleParams(nullptr),
    _mavlink(parent),
    _mavlink_ftp(parent),
    _mavlink_log_handler(parent),
    _mission_manager(parent),
    _parameters_manager(parent),
    _mavlink_timesync(parent)
{
}

void
MavlinkReceiver::acknowledge(uint8_t sysid, uint8_t compid, uint16_t command, uint8_t result)
{
    vehicle_command_ack_s command_ack{};

    command_ack.timestamp = hrt_absolute_time();
    command_ack.command = command;
    command_ack.result = result;
    command_ack.target_system = sysid;
    command_ack.target_component = compid;

    _cmd_ack_pub.publish(command_ack);
}

void
MavlinkReceiver::handle_message(mavlink_message_t *msg)
{
    switch (msg->msgid) {
    case MAVLINK_MSG_ID_COMMAND_LONG:
        handle_message_command_long(msg);
        break;

    case MAVLINK_MSG_ID_COMMAND_INT:
        handle_message_command_int(msg);
        break;

    case MAVLINK_MSG_ID_COMMAND_ACK:
        handle_message_command_ack(msg);
        break;

    case MAVLINK_MSG_ID_OPTICAL_FLOW_RAD:
        handle_message_optical_flow_rad(msg);
        break;

    case MAVLINK_MSG_ID_PING:
        handle_message_ping(msg);
        break;

    case MAVLINK_MSG_ID_SET_MODE:
        handle_message_set_mode(msg);
        break;

    case MAVLINK_MSG_ID_ATT_POS_MOCAP:
        handle_message_att_pos_mocap(msg);
        break;

    case MAVLINK_MSG_ID_SET_POSITION_TARGET_LOCAL_NED:
        handle_message_set_position_target_local_ned(msg);
        break;

    case MAVLINK_MSG_ID_SET_POSITION_TARGET_GLOBAL_INT:
        handle_message_set_position_target_global_int(msg);
        break;

    case MAVLINK_MSG_ID_SET_ATTITUDE_TARGET:
        handle_message_set_attitude_target(msg);
        break;

    case MAVLINK_MSG_ID_SET_ACTUATOR_CONTROL_TARGET:
        handle_message_set_actuator_control_target(msg);
        break;

    case MAVLINK_MSG_ID_VISION_POSITION_ESTIMATE:
        handle_message_vision_position_estimate(msg);
        break;

    case MAVLINK_MSG_ID_ODOMETRY:
        handle_message_odometry(msg);
        break;

    case MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN:
        handle_message_gps_global_origin(msg);
        break;

    case MAVLINK_MSG_ID_RADIO_STATUS:
        handle_message_radio_status(msg);
        break;

    case MAVLINK_MSG_ID_MANUAL_CONTROL:
        handle_message_manual_control(msg);
        break;

    case MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE:
        handle_message_rc_channels_override(msg);
        break;

    case MAVLINK_MSG_ID_HEARTBEAT:
        handle_message_heartbeat(msg);
        break;

    case MAVLINK_MSG_ID_DISTANCE_SENSOR:
        handle_message_distance_sensor(msg);
        break;

    case MAVLINK_MSG_ID_FOLLOW_TARGET:
        handle_message_follow_target(msg);
        break;

    case MAVLINK_MSG_ID_LANDING_TARGET:
        handle_message_landing_target(msg);
        break;

    case MAVLINK_MSG_ID_CELLULAR_STATUS:
        handle_message_cellular_status(msg);
        break;

    case MAVLINK_MSG_ID_ADSB_VEHICLE:
        handle_message_adsb_vehicle(msg);
        break;

    case MAVLINK_MSG_ID_UTM_GLOBAL_POSITION:
        handle_message_utm_global_position(msg);
        break;

    case MAVLINK_MSG_ID_COLLISION:
        handle_message_collision(msg);
        break;

    case MAVLINK_MSG_ID_GPS_RTCM_DATA:
        handle_message_gps_rtcm_data(msg);
        break;

    case MAVLINK_MSG_ID_BATTERY_STATUS:
        handle_message_battery_status(msg);
        break;

    case MAVLINK_MSG_ID_SERIAL_CONTROL:
        handle_message_serial_control(msg);
        break;

    case MAVLINK_MSG_ID_LOGGING_ACK:
        handle_message_logging_ack(msg);
        break;

    case MAVLINK_MSG_ID_PLAY_TUNE:
        handle_message_play_tune(msg);
        break;

    case MAVLINK_MSG_ID_OBSTACLE_DISTANCE:
        handle_message_obstacle_distance(msg);
        break;

    case MAVLINK_MSG_ID_TRAJECTORY_REPRESENTATION_WAYPOINTS:
        handle_message_trajectory_representation_waypoints(msg);
        break;

    case MAVLINK_MSG_ID_NAMED_VALUE_FLOAT:
        handle_message_named_value_float(msg);
        break;

    case MAVLINK_MSG_ID_DEBUG:
        handle_message_debug(msg);
        break;

    case MAVLINK_MSG_ID_DEBUG_VECT:
        handle_message_debug_vect(msg);
        break;

    case MAVLINK_MSG_ID_DEBUG_FLOAT_ARRAY:
        handle_message_debug_float_array(msg);
        break;

    case MAVLINK_MSG_ID_ONBOARD_COMPUTER_STATUS:
        handle_message_onboard_computer_status(msg);
        break;

    case MAVLINK_MSG_ID_STATUSTEXT:
        handle_message_statustext(msg);
        break;

    default:
        break;
    }

    /*
     * Only decode hil messages in HIL mode.
     *
     * The HIL mode is enabled by the HIL bit flag
     * in the system mode. Either send a set mode
     * COMMAND_LONG message or a SET_MODE message
     *
     * Accept HIL GPS messages if use_hil_gps flag is true.
     * This allows to provide fake gps measurements to the system.
     */
    if (_mavlink->get_hil_enabled()) {
        switch (msg->msgid) {
        case MAVLINK_MSG_ID_HIL_SENSOR:
            handle_message_hil_sensor(msg);
            break;

        case MAVLINK_MSG_ID_HIL_STATE_QUATERNION:
            handle_message_hil_state_quaternion(msg);
            break;

        case MAVLINK_MSG_ID_HIL_OPTICAL_FLOW:
            handle_message_hil_optical_flow(msg);
            break;

        default:
            break;
        }
    }


    if (_mavlink->get_hil_enabled() || (_mavlink->get_use_hil_gps() && msg->sysid == mavlink_system.sysid)) {
        switch (msg->msgid) {
        case MAVLINK_MSG_ID_HIL_GPS:
            handle_message_hil_gps(msg);
            break;

        default:
            break;
        }

    }

    /* If we've received a valid message, mark the flag indicating so.
       This is used in the '-w' command-line flag. */
    _mavlink->set_has_received_messages(true);
}

bool
MavlinkReceiver::evaluate_target_ok(int command, int target_system, int target_component)
{
    /* evaluate if this system should accept this command */
    bool target_ok = false;

    switch (command) {

    case MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES:
    case MAV_CMD_REQUEST_PROTOCOL_VERSION:
        /* broadcast and ignore component */
        target_ok = (target_system == 0) || (target_system == mavlink_system.sysid);
        break;

    default:
        target_ok = (target_system == mavlink_system.sysid) && ((target_component == mavlink_system.compid)
                || (target_component == MAV_COMP_ID_ALL));
        break;
    }

    return target_ok;
}

void
MavlinkReceiver::send_flight_information()
{
    mavlink_flight_information_t flight_info{};
    flight_info.flight_uuid = static_cast<uint64_t>(_param_com_flight_uuid.get());

    actuator_armed_s actuator_armed{};
    bool ret = _actuator_armed_sub.copy(&actuator_armed);

    if (ret && actuator_armed.timestamp != 0) {
        flight_info.arming_time_utc = flight_info.takeoff_time_utc = actuator_armed.armed_time_ms;
    }

    flight_info.time_boot_ms = hrt_absolute_time() / 1000;
    mavlink_msg_flight_information_send_struct(_mavlink->get_channel(), &flight_info);
}

void
MavlinkReceiver::send_storage_information(int storage_id)
{
    mavlink_storage_information_t storage_info{};
    const char *microsd_dir = PX4_STORAGEDIR;

    if (storage_id == 0 || storage_id == 1) { // request is for all or the first storage
        storage_info.storage_id = 1;

        struct statfs statfs_buf;
        uint64_t total_bytes = 0;
        uint64_t avail_bytes = 0;

        if (statfs(microsd_dir, &statfs_buf) == 0) {
            total_bytes = (uint64_t)statfs_buf.f_blocks * statfs_buf.f_bsize;
            avail_bytes = (uint64_t)statfs_buf.f_bavail * statfs_buf.f_bsize;
        }

        if (total_bytes == 0) { // on NuttX we get 0 total bytes if no SD card is inserted
            storage_info.storage_count = 0;
            storage_info.status = 0; // not available

        } else {
            storage_info.storage_count = 1;
            storage_info.status = 2; // available & formatted
            storage_info.total_capacity = total_bytes / 1024. / 1024.;
            storage_info.available_capacity = avail_bytes / 1024. / 1024.;
            storage_info.used_capacity = (total_bytes - avail_bytes) / 1024. / 1024.;
        }

    } else {
        // only one storage supported
        storage_info.storage_id = storage_id;
        storage_info.storage_count = 1;
    }

    storage_info.time_boot_ms = hrt_absolute_time() / 1000;
    mavlink_msg_storage_information_send_struct(_mavlink->get_channel(), &storage_info);
}

void
MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
{
    /* command */
    mavlink_command_long_t cmd_mavlink;
    mavlink_msg_command_long_decode(msg, &cmd_mavlink);

    vehicle_command_s vcmd{};

    vcmd.timestamp = hrt_absolute_time();

    /* Copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */
    vcmd.param1 = cmd_mavlink.param1;
    vcmd.param2 = cmd_mavlink.param2;
    vcmd.param3 = cmd_mavlink.param3;
    vcmd.param4 = cmd_mavlink.param4;
    vcmd.param5 = (double)cmd_mavlink.param5;
    vcmd.param6 = (double)cmd_mavlink.param6;
    vcmd.param7 = cmd_mavlink.param7;
    vcmd.command = cmd_mavlink.command;
    vcmd.target_system = cmd_mavlink.target_system;
    vcmd.target_component = cmd_mavlink.target_component;
    vcmd.source_system = msg->sysid;
    vcmd.source_component = msg->compid;
    vcmd.confirmation = cmd_mavlink.confirmation;
    vcmd.from_external = true;

    handle_message_command_both(msg, cmd_mavlink, vcmd);
}

void
MavlinkReceiver::handle_message_command_int(mavlink_message_t *msg)
{
    /* command */
    mavlink_command_int_t cmd_mavlink;
    mavlink_msg_command_int_decode(msg, &cmd_mavlink);

    vehicle_command_s vcmd{};
    vcmd.timestamp = hrt_absolute_time();

    /* Copy the content of mavlink_command_int_t cmd_mavlink into command_t cmd */
    vcmd.param1 = cmd_mavlink.param1;
    vcmd.param2 = cmd_mavlink.param2;
    vcmd.param3 = cmd_mavlink.param3;
    vcmd.param4 = cmd_mavlink.param4;
    vcmd.param5 = ((double)cmd_mavlink.x) / 1e7;
    vcmd.param6 = ((double)cmd_mavlink.y) / 1e7;
    vcmd.param7 = cmd_mavlink.z;
    vcmd.command = cmd_mavlink.command;
    vcmd.target_system = cmd_mavlink.target_system;
    vcmd.target_component = cmd_mavlink.target_component;
    vcmd.source_system = msg->sysid;
    vcmd.source_component = msg->compid;
    vcmd.confirmation = false;
    vcmd.from_external = true;

    handle_message_command_both(msg, cmd_mavlink, vcmd);
}

template <class T>
void MavlinkReceiver::handle_message_command_both(mavlink_message_t *msg, const T &cmd_mavlink,
        const vehicle_command_s &vehicle_command)
{
    bool target_ok = evaluate_target_ok(cmd_mavlink.command, cmd_mavlink.target_system, cmd_mavlink.target_component);

    bool send_ack = true;
    uint8_t result = vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED;

    if (!target_ok) {
        acknowledge(msg->sysid, msg->compid, cmd_mavlink.command, vehicle_command_ack_s::VEHICLE_RESULT_FAILED);
        return;
    }

    if (cmd_mavlink.command == MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES) {
        /* send autopilot version message */
        _mavlink->send_autopilot_capabilites();

    } else if (cmd_mavlink.command == MAV_CMD_REQUEST_PROTOCOL_VERSION) {
        /* send protocol version message */
        _mavlink->send_protocol_version();

    } else if (cmd_mavlink.command == MAV_CMD_GET_HOME_POSITION) {
        _mavlink->configure_stream_threadsafe("HOME_POSITION", 0.5f);

    } else if (cmd_mavlink.command == MAV_CMD_SET_MESSAGE_INTERVAL) {
        if (set_message_interval((int)(cmd_mavlink.param1 + 0.5f), cmd_mavlink.param2, cmd_mavlink.param3)) {
            result = vehicle_command_ack_s::VEHICLE_RESULT_FAILED;
        }

    } else if (cmd_mavlink.command == MAV_CMD_GET_MESSAGE_INTERVAL) {
        get_message_interval((int)cmd_mavlink.param1);

    } else if (cmd_mavlink.command == MAV_CMD_REQUEST_FLIGHT_INFORMATION) {
        send_flight_information();

    } else if (cmd_mavlink.command == MAV_CMD_REQUEST_STORAGE_INFORMATION) {
        if ((int)(cmd_mavlink.param2 + 0.5f) == 1) {
            send_storage_information(cmd_mavlink.param1 + 0.5f);
        }

    } else {

        send_ack = false;

        if (msg->sysid == mavlink_system.sysid && msg->compid == mavlink_system.compid) {
            PX4_WARN("ignoring CMD with same SYS/COMP (%d/%d) ID", mavlink_system.sysid, mavlink_system.compid);
            return;
        }

        if (cmd_mavlink.command == MAV_CMD_LOGGING_START) {
            // check that we have enough bandwidth available: this is given by the configured logger topics
            // and rates. The 5000 is somewhat arbitrary, but makes sure that we cannot enable log streaming
            // on a radio link
            if (_mavlink->get_data_rate() < 5000) {
                send_ack = true;
                result = vehicle_command_ack_s::VEHICLE_RESULT_DENIED;
                _mavlink->send_statustext_critical("Not enough bandwidth to enable log streaming");

            } else {
                // we already instanciate the streaming object, because at this point we know on which
                // mavlink channel streaming was requested. But in fact it's possible that the logger is
                // not even running. The main mavlink thread takes care of this by waiting for an ack
                // from the logger.
                _mavlink->try_start_ulog_streaming(msg->sysid, msg->compid);
            }

        } else if (cmd_mavlink.command == MAV_CMD_LOGGING_STOP) {
            _mavlink->request_stop_ulog_streaming();
        }

        if (!send_ack) {
            _cmd_pub.publish(vehicle_command);
        }
    }

    if (send_ack) {
        acknowledge(msg->sysid, msg->compid, cmd_mavlink.command, result);
    }
}

void
MavlinkReceiver::handle_message_command_ack(mavlink_message_t *msg)
{
    mavlink_command_ack_t ack;
    mavlink_msg_command_ack_decode(msg, &ack);

    MavlinkCommandSender::instance().handle_mavlink_command_ack(ack, msg->sysid, msg->compid, _mavlink->get_channel());

    vehicle_command_ack_s command_ack{};

    command_ack.timestamp = hrt_absolute_time();
    command_ack.result_param2 = ack.result_param2;
    command_ack.command = ack.command;
    command_ack.result = ack.result;
    command_ack.from_external = true;
    command_ack.result_param1 = ack.progress;
    command_ack.target_system = ack.target_system;
    command_ack.target_component = ack.target_component;

    _cmd_ack_pub.publish(command_ack);

    // TODO: move it to the same place that sent the command
    if (ack.result != MAV_RESULT_ACCEPTED && ack.result != MAV_RESULT_IN_PROGRESS) {
        if (msg->compid == MAV_COMP_ID_CAMERA) {
            PX4_WARN("Got unsuccessful result %d from camera", ack.result);
        }
    }
}

void
MavlinkReceiver::handle_message_optical_flow_rad(mavlink_message_t *msg)
{
    /* optical flow */
    mavlink_optical_flow_rad_t flow;
    mavlink_msg_optical_flow_rad_decode(msg, &flow);

    optical_flow_s f{};

    f.timestamp = hrt_absolute_time();
    f.time_since_last_sonar_update = flow.time_delta_distance_us;
    f.integration_timespan  = flow.integration_time_us;
    f.pixel_flow_x_integral = flow.integrated_x;
    f.pixel_flow_y_integral = flow.integrated_y;
    f.gyro_x_rate_integral  = flow.integrated_xgyro;
    f.gyro_y_rate_integral  = flow.integrated_ygyro;
    f.gyro_z_rate_integral  = flow.integrated_zgyro;
    f.gyro_temperature      = flow.temperature;
    f.ground_distance_m     = flow.distance;
    f.quality               = flow.quality;
    f.sensor_id             = flow.sensor_id;
    f.max_flow_rate         = _param_sens_flow_maxr.get();
    f.min_ground_distance   = _param_sens_flow_minhgt.get();
    f.max_ground_distance   = _param_sens_flow_maxhgt.get();

    /* read flow sensor parameters */
    const Rotation flow_rot = (Rotation)_param_sens_flow_rot.get();

    /* rotate measurements according to parameter */
    float zero_val = 0.0f;
    rotate_3f(flow_rot, f.pixel_flow_x_integral, f.pixel_flow_y_integral, zero_val);
    rotate_3f(flow_rot, f.gyro_x_rate_integral, f.gyro_y_rate_integral, f.gyro_z_rate_integral);

    _flow_pub.publish(f);

    /* Use distance value for distance sensor topic */
    if (flow.distance > 0.0f) { // negative values signal invalid data

        distance_sensor_s d{};

        d.timestamp = f.timestamp;
        d.min_distance = 0.3f;
        d.max_distance = 5.0f;
        d.current_distance = flow.distance; /* both are in m */
        d.type = 1;
        d.id = distance_sensor_s::MAV_DISTANCE_SENSOR_ULTRASOUND;
        d.orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
        d.variance = 0.0;

        _flow_distance_sensor_pub.publish(d);
    }
}

void
MavlinkReceiver::handle_message_hil_optical_flow(mavlink_message_t *msg)
{
    /* optical flow */
    mavlink_hil_optical_flow_t flow;
    mavlink_msg_hil_optical_flow_decode(msg, &flow);

    optical_flow_s f{};

    f.timestamp = hrt_absolute_time(); // XXX we rely on the system time for now and not flow.time_usec;
    f.integration_timespan = flow.integration_time_us;
    f.pixel_flow_x_integral = flow.integrated_x;
    f.pixel_flow_y_integral = flow.integrated_y;
    f.gyro_x_rate_integral = flow.integrated_xgyro;
    f.gyro_y_rate_integral = flow.integrated_ygyro;
    f.gyro_z_rate_integral = flow.integrated_zgyro;
    f.time_since_last_sonar_update = flow.time_delta_distance_us;
    f.ground_distance_m = flow.distance;
    f.quality = flow.quality;
    f.sensor_id = flow.sensor_id;
    f.gyro_temperature = flow.temperature;

    _flow_pub.publish(f);

    /* Use distance value for distance sensor topic */
    distance_sensor_s d{};

    d.timestamp = hrt_absolute_time();
    d.min_distance = 0.3f;
    d.max_distance = 5.0f;
    d.current_distance = flow.distance; /* both are in m */
    d.type = distance_sensor_s::MAV_DISTANCE_SENSOR_LASER;
    d.id = 0;
    d.orientation = distance_sensor_s::ROTATION_DOWNWARD_FACING;
    d.variance = 0.0;

    _flow_distance_sensor_pub.publish(d);
}

void
MavlinkReceiver::handle_message_set_mode(mavlink_message_t *msg)
{
    mavlink_set_mode_t new_mode;
    mavlink_msg_set_mode_decode(msg, &new_mode);

    union px4_custom_mode custom_mode;
    custom_mode.data = new_mode.custom_mode;

    vehicle_command_s vcmd{};

    vcmd.timestamp = hrt_absolute_time();

    /* copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */
    vcmd.param1 = (float)new_mode.base_mode;
    vcmd.param2 = (float)custom_mode.main_mode;
    vcmd.param3 = (float)custom_mode.sub_mode;

    vcmd.command = vehicle_command_s::VEHICLE_CMD_DO_SET_MODE;
    vcmd.target_system = new_mode.target_system;
    vcmd.target_component = MAV_COMP_ID_ALL;
    vcmd.source_system = msg->sysid;
    vcmd.source_component = msg->compid;
    vcmd.confirmation = true;
    vcmd.from_external = true;

    _cmd_pub.publish(vcmd);
}

void
MavlinkReceiver::handle_message_distance_sensor(mavlink_message_t *msg)
{
    mavlink_distance_sensor_t dist_sensor;
    mavlink_msg_distance_sensor_decode(msg, &dist_sensor);

    distance_sensor_s ds{};

    ds.timestamp        = hrt_absolute_time(); /* Use system time for now, don't trust sender to attach correct timestamp */
    ds.min_distance     = static_cast<float>(dist_sensor.min_distance) * 1e-2f;     /* cm to m */
    ds.max_distance     = static_cast<float>(dist_sensor.max_distance) * 1e-2f;     /* cm to m */
    ds.current_distance = static_cast<float>(dist_sensor.current_distance) * 1e-2f; /* cm to m */
    ds.variance         = dist_sensor.covariance * 1e-4f;                           /* cm^2 to m^2 */
    ds.h_fov            = dist_sensor.horizontal_fov;
    ds.v_fov            = dist_sensor.vertical_fov;
    ds.q[0]             = dist_sensor.quaternion[0];
    ds.q[1]             = dist_sensor.quaternion[1];
    ds.q[2]             = dist_sensor.quaternion[2];
    ds.q[3]             = dist_sensor.quaternion[3];
    ds.signal_quality   = -1; // TODO: A dist_sensor.signal_quality field is missing from the mavlink message definition.
    ds.type             = dist_sensor.type;
    ds.id               = MAV_DISTANCE_SENSOR_LASER;
    ds.orientation      = dist_sensor.orientation;

    _distance_sensor_pub.publish(ds);
}

void
MavlinkReceiver::handle_message_att_pos_mocap(mavlink_message_t *msg)
{
    mavlink_att_pos_mocap_t mocap;
    mavlink_msg_att_pos_mocap_decode(msg, &mocap);

    vehicle_odometry_s mocap_odom{};

    mocap_odom.timestamp = _mavlink_timesync.sync_stamp(mocap.time_usec);
    mocap_odom.x = mocap.x;
    mocap_odom.y = mocap.y;
    mocap_odom.z = mocap.z;
    mocap_odom.q[0] = mocap.q[0];
    mocap_odom.q[1] = mocap.q[1];
    mocap_odom.q[2] = mocap.q[2];
    mocap_odom.q[3] = mocap.q[3];

    const size_t URT_SIZE = sizeof(mocap_odom.pose_covariance) / sizeof(mocap_odom.pose_covariance[0]);
    static_assert(URT_SIZE == (sizeof(mocap.covariance) / sizeof(mocap.covariance[0])),
              "Odometry Pose Covariance matrix URT array size mismatch");

    for (size_t i = 0; i < URT_SIZE; i++) {
        mocap_odom.pose_covariance[i] = mocap.covariance[i];
    }

    mocap_odom.vx = NAN;
    mocap_odom.vy = NAN;
    mocap_odom.vz = NAN;
    mocap_odom.rollspeed = NAN;
    mocap_odom.pitchspeed = NAN;
    mocap_odom.yawspeed = NAN;
    mocap_odom.velocity_covariance[0] = NAN;

    _mocap_odometry_pub.publish(mocap_odom);
}

void
MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t *msg)
{
    mavlink_set_position_target_local_ned_t set_position_target_local_ned;
    mavlink_msg_set_position_target_local_ned_decode(msg, &set_position_target_local_ned);

    const bool values_finite =
        PX4_ISFINITE(set_position_target_local_ned.x) &&
        PX4_ISFINITE(set_position_target_local_ned.y) &&
        PX4_ISFINITE(set_position_target_local_ned.z) &&
        PX4_ISFINITE(set_position_target_local_ned.vx) &&
        PX4_ISFINITE(set_position_target_local_ned.vy) &&
        PX4_ISFINITE(set_position_target_local_ned.vz) &&
        PX4_ISFINITE(set_position_target_local_ned.afx) &&
        PX4_ISFINITE(set_position_target_local_ned.afy) &&
        PX4_ISFINITE(set_position_target_local_ned.afz) &&
        PX4_ISFINITE(set_position_target_local_ned.yaw);

    /* Only accept messages which are intended for this system */
    if ((mavlink_system.sysid == set_position_target_local_ned.target_system ||
         set_position_target_local_ned.target_system == 0) &&
        (mavlink_system.compid == set_position_target_local_ned.target_component ||
         set_position_target_local_ned.target_component == 0) &&
        values_finite) {

        offboard_control_mode_s offboard_control_mode{};

        /* convert mavlink type (local, NED) to uORB offboard control struct */
        offboard_control_mode.ignore_position = (bool)(set_position_target_local_ned.type_mask & 0x7);
        offboard_control_mode.ignore_alt_hold = (bool)(set_position_target_local_ned.type_mask & 0x4);
        offboard_control_mode.ignore_velocity = (bool)(set_position_target_local_ned.type_mask & 0x38);
        offboard_control_mode.ignore_acceleration_force = (bool)(set_position_target_local_ned.type_mask & 0x1C0);
        offboard_control_mode.ignore_attitude = (bool)(set_position_target_local_ned.type_mask & 0x400);
        offboard_control_mode.ignore_bodyrate_x = (bool)(set_position_target_local_ned.type_mask & 0x800);
        offboard_control_mode.ignore_bodyrate_y = (bool)(set_position_target_local_ned.type_mask & 0x800);
        offboard_control_mode.ignore_bodyrate_z = (bool)(set_position_target_local_ned.type_mask & 0x800);

        /* yaw ignore flag mapps to ignore_attitude */
        bool is_force_sp = (bool)(set_position_target_local_ned.type_mask & (1 << 9));

        bool is_takeoff_sp = (bool)(set_position_target_local_ned.type_mask & 0x1000);
        bool is_land_sp = (bool)(set_position_target_local_ned.type_mask & 0x2000);
        bool is_loiter_sp = (bool)(set_position_target_local_ned.type_mask & 0x3000);
        bool is_idle_sp = (bool)(set_position_target_local_ned.type_mask & 0x4000);

        offboard_control_mode.timestamp = hrt_absolute_time();
        _offboard_control_mode_pub.publish(offboard_control_mode);

        /* If we are in offboard control mode and offboard control loop through is enabled
         * also publish the setpoint topic which is read by the controller */
        if (_mavlink->get_forward_externalsp()) {

            vehicle_control_mode_s control_mode{};
            _control_mode_sub.copy(&control_mode);

            if (control_mode.flag_control_offboard_enabled) {
                if (is_force_sp && offboard_control_mode.ignore_position &&
                    offboard_control_mode.ignore_velocity) {

                    PX4_WARN("force setpoint not supported");

                } else {
                    /* It's not a pure force setpoint: publish to setpoint triplet  topic */
                    position_setpoint_triplet_s pos_sp_triplet{};

                    pos_sp_triplet.timestamp = hrt_absolute_time();
                    pos_sp_triplet.previous.valid = false;
                    pos_sp_triplet.next.valid = false;
                    pos_sp_triplet.current.valid = true;

                    /* Order of statements matters. Takeoff can override loiter.
                     * See https://github.com/mavlink/mavlink/pull/670 for a broader conversation. */
                    if (is_loiter_sp) {
                        pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_LOITER;

                    } else if (is_takeoff_sp) {
                        pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_TAKEOFF;

                    } else if (is_land_sp) {
                        pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_LAND;

                    } else if (is_idle_sp) {
                        pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_IDLE;

                    } else {
                        pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_POSITION;
                    }

                    /* set the local pos values */
                    if (!offboard_control_mode.ignore_position) {

                        pos_sp_triplet.current.position_valid = true;
                        pos_sp_triplet.current.x = set_position_target_local_ned.x;
                        pos_sp_triplet.current.y = set_position_target_local_ned.y;
                        pos_sp_triplet.current.z = set_position_target_local_ned.z;

                    } else {
                        pos_sp_triplet.current.position_valid = false;
                    }

                    /* set the local vel values */
                    if (!offboard_control_mode.ignore_velocity) {

                        pos_sp_triplet.current.velocity_valid = true;
                        pos_sp_triplet.current.vx = set_position_target_local_ned.vx;
                        pos_sp_triplet.current.vy = set_position_target_local_ned.vy;
                        pos_sp_triplet.current.vz = set_position_target_local_ned.vz;

                        pos_sp_triplet.current.velocity_frame = set_position_target_local_ned.coordinate_frame;

                    } else {
                        pos_sp_triplet.current.velocity_valid = false;
                    }

                    if (!offboard_control_mode.ignore_alt_hold) {
                        pos_sp_triplet.current.alt_valid = true;
                        pos_sp_triplet.current.z = set_position_target_local_ned.z;

                    } else {
                        pos_sp_triplet.current.alt_valid = false;
                    }

                    /* set the local acceleration values if the setpoint type is 'local pos' and none
                     * of the accelerations fields is set to 'ignore' */
                    if (!offboard_control_mode.ignore_acceleration_force) {

                        pos_sp_triplet.current.acceleration_valid = true;
                        pos_sp_triplet.current.a_x = set_position_target_local_ned.afx;
                        pos_sp_triplet.current.a_y = set_position_target_local_ned.afy;
                        pos_sp_triplet.current.a_z = set_position_target_local_ned.afz;
                        pos_sp_triplet.current.acceleration_is_force = is_force_sp;

                    } else {
                        pos_sp_triplet.current.acceleration_valid = false;
                    }

                    /* set the yaw sp value */
                    if (!offboard_control_mode.ignore_attitude) {
                        pos_sp_triplet.current.yaw_valid = true;
                        pos_sp_triplet.current.yaw = set_position_target_local_ned.yaw;

                    } else {
                        pos_sp_triplet.current.yaw_valid = false;
                    }

                    /* set the yawrate sp value */
                    if (!(offboard_control_mode.ignore_bodyrate_x ||
                          offboard_control_mode.ignore_bodyrate_y ||
                          offboard_control_mode.ignore_bodyrate_z)) {

                        pos_sp_triplet.current.yawspeed_valid = true;
                        pos_sp_triplet.current.yawspeed = set_position_target_local_ned.yaw_rate;

                    } else {
                        pos_sp_triplet.current.yawspeed_valid = false;
                    }

                    //XXX handle global pos setpoints (different MAV frames)
                    _pos_sp_triplet_pub.publish(pos_sp_triplet);
                }
            }
        }
    }
}

void
MavlinkReceiver::handle_message_set_position_target_global_int(mavlink_message_t *msg)
{
    mavlink_set_position_target_global_int_t set_position_target_global_int;
    mavlink_msg_set_position_target_global_int_decode(msg, &set_position_target_global_int);

    const bool values_finite =
        PX4_ISFINITE(set_position_target_global_int.alt) &&
        PX4_ISFINITE(set_position_target_global_int.vx) &&
        PX4_ISFINITE(set_position_target_global_int.vy) &&
        PX4_ISFINITE(set_position_target_global_int.vz) &&
        PX4_ISFINITE(set_position_target_global_int.afx) &&
        PX4_ISFINITE(set_position_target_global_int.afy) &&
        PX4_ISFINITE(set_position_target_global_int.afz) &&
        PX4_ISFINITE(set_position_target_global_int.yaw);

    /* Only accept messages which are intended for this system */
    if ((mavlink_system.sysid == set_position_target_global_int.target_system ||
         set_position_target_global_int.target_system == 0) &&
        (mavlink_system.compid == set_position_target_global_int.target_component ||
         set_position_target_global_int.target_component == 0) &&
        values_finite) {

        offboard_control_mode_s offboard_control_mode{};

        /* convert mavlink type (local, NED) to uORB offboard control struct */
        offboard_control_mode.ignore_position = (bool)(set_position_target_global_int.type_mask &
                            (POSITION_TARGET_TYPEMASK::POSITION_TARGET_TYPEMASK_X_IGNORE
                                    | POSITION_TARGET_TYPEMASK::POSITION_TARGET_TYPEMASK_Y_IGNORE
                                    | POSITION_TARGET_TYPEMASK::POSITION_TARGET_TYPEMASK_Z_IGNORE));
        offboard_control_mode.ignore_alt_hold = (bool)(set_position_target_global_int.type_mask & 0x4);
        offboard_control_mode.ignore_velocity = (bool)(set_position_target_global_int.type_mask &
                            (POSITION_TARGET_TYPEMASK::POSITION_TARGET_TYPEMASK_VX_IGNORE
                                    | POSITION_TARGET_TYPEMASK::POSITION_TARGET_TYPEMASK_VY_IGNORE
                                    | POSITION_TARGET_TYPEMASK::POSITION_TARGET_TYPEMASK_VZ_IGNORE));
        offboard_control_mode.ignore_acceleration_force = (bool)(set_position_target_global_int.type_mask &
                (POSITION_TARGET_TYPEMASK::POSITION_TARGET_TYPEMASK_AX_IGNORE
                 | POSITION_TARGET_TYPEMASK::POSITION_TARGET_TYPEMASK_AY_IGNORE
                 | POSITION_TARGET_TYPEMASK::POSITION_TARGET_TYPEMASK_AZ_IGNORE));
        /* yaw ignore flag mapps to ignore_attitude */
        offboard_control_mode.ignore_attitude = (bool)(set_position_target_global_int.type_mask &
                            POSITION_TARGET_TYPEMASK::POSITION_TARGET_TYPEMASK_YAW_IGNORE);
        offboard_control_mode.ignore_bodyrate_x = (bool)(set_position_target_global_int.type_mask &
                POSITION_TARGET_TYPEMASK::POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE);
        offboard_control_mode.ignore_bodyrate_y = (bool)(set_position_target_global_int.type_mask &
                POSITION_TARGET_TYPEMASK::POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE);
        offboard_control_mode.ignore_bodyrate_z = (bool)(set_position_target_global_int.type_mask &
                POSITION_TARGET_TYPEMASK::POSITION_TARGET_TYPEMASK_YAW_RATE_IGNORE);

        bool is_force_sp = (bool)(set_position_target_global_int.type_mask & (1 << 9));

        offboard_control_mode.timestamp = hrt_absolute_time();
        _offboard_control_mode_pub.publish(offboard_control_mode);

        /* If we are in offboard control mode and offboard control loop through is enabled
         * also publish the setpoint topic which is read by the controller */
        if (_mavlink->get_forward_externalsp()) {

            vehicle_control_mode_s control_mode{};
            _control_mode_sub.copy(&control_mode);

            if (control_mode.flag_control_offboard_enabled) {
                if (is_force_sp && offboard_control_mode.ignore_position &&
                    offboard_control_mode.ignore_velocity) {

                    PX4_WARN("force setpoint not supported");

                } else {
                    /* It's not a pure force setpoint: publish to setpoint triplet  topic */
                    position_setpoint_triplet_s pos_sp_triplet{};

                    pos_sp_triplet.timestamp = hrt_absolute_time();
                    pos_sp_triplet.previous.valid = false;
                    pos_sp_triplet.next.valid = false;
                    pos_sp_triplet.current.valid = true;

                    /* Order of statements matters. Takeoff can override loiter.
                     * See https://github.com/mavlink/mavlink/pull/670 for a broader conversation. */
                    if (set_position_target_global_int.type_mask & 0x3000) { //Loiter setpoint
                        pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_LOITER;

                    } else if (set_position_target_global_int.type_mask & 0x1000) { //Takeoff setpoint
                        pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_TAKEOFF;

                    } else if (set_position_target_global_int.type_mask & 0x2000) { //Land setpoint
                        pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_LAND;

                    } else if (set_position_target_global_int.type_mask & 0x4000) { //Idle setpoint
                        pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_IDLE;

                    } else {
                        pos_sp_triplet.current.type = position_setpoint_s::SETPOINT_TYPE_POSITION;
                    }

                    /* set the local pos values */
                    vehicle_local_position_s local_pos{};

                    if (!offboard_control_mode.ignore_position && _vehicle_local_position_sub.copy(&local_pos)) {
                        if (!globallocalconverter_initialized()) {
                            globallocalconverter_init(local_pos.ref_lat, local_pos.ref_lon,
                                          local_pos.ref_alt, local_pos.ref_timestamp);
                            pos_sp_triplet.current.position_valid = false;

                        } else {
                            globallocalconverter_tolocal(set_position_target_global_int.lat_int / 1e7,
                                             set_position_target_global_int.lon_int / 1e7, set_position_target_global_int.alt,
                                             &pos_sp_triplet.current.x, &pos_sp_triplet.current.y, &pos_sp_triplet.current.z);
                            pos_sp_triplet.current.position_valid = true;
                        }

                    } else {
                        pos_sp_triplet.current.position_valid = false;
                    }

                    /* set the local velocity values */
                    if (!offboard_control_mode.ignore_velocity) {

                        pos_sp_triplet.current.velocity_valid = true;
                        pos_sp_triplet.current.vx = set_position_target_global_int.vx;
                        pos_sp_triplet.current.vy = set_position_target_global_int.vy;
                        pos_sp_triplet.current.vz = set_position_target_global_int.vz;

                        pos_sp_triplet.current.velocity_frame = set_position_target_global_int.coordinate_frame;

                    } else {
                        pos_sp_triplet.current.velocity_valid = false;
                    }

                    if (!offboard_control_mode.ignore_alt_hold) {
                        pos_sp_triplet.current.alt_valid = true;

                    } else {
                        pos_sp_triplet.current.alt_valid = false;
                    }

                    /* set the local acceleration values if the setpoint type is 'local pos' and none
                     * of the accelerations fields is set to 'ignore' */
                    if (!offboard_control_mode.ignore_acceleration_force) {

                        pos_sp_triplet.current.acceleration_valid = true;
                        pos_sp_triplet.current.a_x = set_position_target_global_int.afx;
                        pos_sp_triplet.current.a_y = set_position_target_global_int.afy;
                        pos_sp_triplet.current.a_z = set_position_target_global_int.afz;
                        pos_sp_triplet.current.acceleration_is_force = is_force_sp;

                    } else {
                        pos_sp_triplet.current.acceleration_valid = false;
                    }

                    /* set the yaw setpoint */
                    if (!offboard_control_mode.ignore_attitude) {
                        pos_sp_triplet.current.yaw_valid = true;
                        pos_sp_triplet.current.yaw = set_position_target_global_int.yaw;

                    } else {
                        pos_sp_triplet.current.yaw_valid = false;
                    }

                    /* set the yawrate sp value */
                    if (!(offboard_control_mode.ignore_bodyrate_x ||
                          offboard_control_mode.ignore_bodyrate_y ||
                          offboard_control_mode.ignore_bodyrate_z)) {

                        pos_sp_triplet.current.yawspeed_valid = true;
                        pos_sp_triplet.current.yawspeed = set_position_target_global_int.yaw_rate;

                    } else {
                        pos_sp_triplet.current.yawspeed_valid = false;
                    }

                    _pos_sp_triplet_pub.publish(pos_sp_triplet);
                }
            }
        }
    }
}

void
MavlinkReceiver::handle_message_set_actuator_control_target(mavlink_message_t *msg)
{
    mavlink_set_actuator_control_target_t set_actuator_control_target;
    mavlink_msg_set_actuator_control_target_decode(msg, &set_actuator_control_target);

    bool values_finite =
        PX4_ISFINITE(set_actuator_control_target.controls[0]) &&
        PX4_ISFINITE(set_actuator_control_target.controls[1]) &&
        PX4_ISFINITE(set_actuator_control_target.controls[2]) &&
        PX4_ISFINITE(set_actuator_control_target.controls[3]) &&
        PX4_ISFINITE(set_actuator_control_target.controls[4]) &&
        PX4_ISFINITE(set_actuator_control_target.controls[5]) &&
        PX4_ISFINITE(set_actuator_control_target.controls[6]) &&
        PX4_ISFINITE(set_actuator_control_target.controls[7]);

    if ((mavlink_system.sysid == set_actuator_control_target.target_system ||
         set_actuator_control_target.target_system == 0) &&
        (mavlink_system.compid == set_actuator_control_target.target_component ||
         set_actuator_control_target.target_component == 0) &&
        values_finite) {

#if defined(ENABLE_LOCKSTEP_SCHEDULER)
        PX4_ERR("SET_ACTUATOR_CONTROL_TARGET not supported with lockstep enabled");
        PX4_ERR("Please disable lockstep for actuator offboard control:");
        PX4_ERR("https://dev.px4.io/master/en/simulation/#disable-lockstep-simulation");
        return;
#endif
        /* Ignore all setpoints except when controlling the gimbal(group_mlx==2) as we are setting raw actuators here */
        bool ignore_setpoints = bool(set_actuator_control_target.group_mlx != 2);

        offboard_control_mode_s offboard_control_mode{};

        offboard_control_mode.ignore_thrust             = ignore_setpoints;
        offboard_control_mode.ignore_attitude           = ignore_setpoints;
        offboard_control_mode.ignore_bodyrate_x         = ignore_setpoints;
        offboard_control_mode.ignore_bodyrate_y         = ignore_setpoints;
        offboard_control_mode.ignore_bodyrate_z         = ignore_setpoints;
        offboard_control_mode.ignore_position           = ignore_setpoints;
        offboard_control_mode.ignore_velocity           = ignore_setpoints;
        offboard_control_mode.ignore_acceleration_force = ignore_setpoints;

        offboard_control_mode.timestamp = hrt_absolute_time();

        _offboard_control_mode_pub.publish(offboard_control_mode);

        /* If we are in offboard control mode, publish the actuator controls */
        vehicle_control_mode_s control_mode{};
        _control_mode_sub.copy(&control_mode);

        if (control_mode.flag_control_offboard_enabled) {

            actuator_controls_s actuator_controls{};
            actuator_controls.timestamp = hrt_absolute_time();

            /* Set duty cycles for the servos in the actuator_controls message */
            for (size_t i = 0; i < 8; i++) {
                actuator_controls.control[i] = set_actuator_control_target.controls[i];
            }

            switch (set_actuator_control_target.group_mlx) {
            case 0:
                _actuator_controls_pubs[0].publish(actuator_controls);
                break;

            case 1:
                _actuator_controls_pubs[1].publish(actuator_controls);
                break;

            case 2:
                _actuator_controls_pubs[2].publish(actuator_controls);
                break;

            case 3:
                _actuator_controls_pubs[3].publish(actuator_controls);
                break;

            default:
                break;
            }
        }
    }

}

void
MavlinkReceiver::handle_message_gps_global_origin(mavlink_message_t *msg)
{
    mavlink_gps_global_origin_t origin;
    mavlink_msg_gps_global_origin_decode(msg, &origin);

    if (!globallocalconverter_initialized()) {
        /* Set reference point conversion of local coordiantes <--> global coordinates */
        globallocalconverter_init((double)origin.latitude * 1.0e-7, (double)origin.longitude * 1.0e-7,
                      (float)origin.altitude * 1.0e-3f, hrt_absolute_time());
        _global_ref_timestamp = hrt_absolute_time();

    }
}

void
MavlinkReceiver::handle_message_vision_position_estimate(mavlink_message_t *msg)
{
    mavlink_vision_position_estimate_t ev;
    mavlink_msg_vision_position_estimate_decode(msg, &ev);

    vehicle_odometry_s visual_odom{};

    visual_odom.timestamp = _mavlink_timesync.sync_stamp(ev.usec);
    visual_odom.x = ev.x;
    visual_odom.y = ev.y;
    visual_odom.z = ev.z;
    matrix::Quatf q(matrix::Eulerf(ev.roll, ev.pitch, ev.yaw));
    q.copyTo(visual_odom.q);

    // TODO:
    // - add a MAV_FRAME_*_OTHER to the Mavlink MAV_FRAME enum IOT define
    // a frame of reference which is not aligned with NED or ENU
    // - add usage on the estimator side
    visual_odom.local_frame = visual_odom.LOCAL_FRAME_NED;

    const size_t URT_SIZE = sizeof(visual_odom.pose_covariance) / sizeof(visual_odom.pose_covariance[0]);
    static_assert(URT_SIZE == (sizeof(ev.covariance) / sizeof(ev.covariance[0])),
              "Odometry Pose Covariance matrix URT array size mismatch");

    for (size_t i = 0; i < URT_SIZE; i++) {
        visual_odom.pose_covariance[i] = ev.covariance[i];
    }

    visual_odom.vx = NAN;
    visual_odom.vy = NAN;
    visual_odom.vz = NAN;
    visual_odom.rollspeed = NAN;
    visual_odom.pitchspeed = NAN;
    visual_odom.yawspeed = NAN;
    visual_odom.velocity_covariance[0] = NAN;

    _visual_odometry_pub.publish(visual_odom);
}

void
MavlinkReceiver::handle_message_odometry(mavlink_message_t *msg)
{
    mavlink_odometry_t odom;
    mavlink_msg_odometry_decode(msg, &odom);

    vehicle_odometry_s odometry{};

    odometry.timestamp = _mavlink_timesync.sync_stamp(odom.time_usec);

    /* The position is in a local FRD frame */
    odometry.x = odom.x;
    odometry.y = odom.y;
    odometry.z = odom.z;

    /* The quaternion of the ODOMETRY msg represents a rotation from body frame to
     * a local frame*/
    matrix::Quatf q_body_to_local(odom.q);
    q_body_to_local.normalize();
    q_body_to_local.copyTo(odometry.q);

    // TODO:
    // - add a MAV_FRAME_*_OTHER to the Mavlink MAV_FRAME enum IOT define
    // a frame of reference which is not aligned with NED or ENU
    // - add usage on the estimator side
    odometry.local_frame = odometry.LOCAL_FRAME_NED;

    // pose_covariance
    static constexpr size_t POS_URT_SIZE = sizeof(odometry.pose_covariance) / sizeof(odometry.pose_covariance[0]);
    static_assert(POS_URT_SIZE == (sizeof(odom.pose_covariance) / sizeof(odom.pose_covariance[0])),
              "Odometry Pose Covariance matrix URT array size mismatch");

    // velocity_covariance
    static constexpr size_t VEL_URT_SIZE = sizeof(odometry.velocity_covariance) / sizeof(odometry.velocity_covariance[0]);
    static_assert(VEL_URT_SIZE == (sizeof(odom.velocity_covariance) / sizeof(odom.velocity_covariance[0])),
              "Odometry Velocity Covariance matrix URT array size mismatch");

    // create a method to simplify covariance copy
    for (size_t i = 0; i < POS_URT_SIZE; i++) {
        odometry.pose_covariance[i] = odom.pose_covariance[i];
    }

    /*
     * PX4 expects the body's linear velocity in the local frame,
     * the linear velocity is rotated from the odom child_frame to the
     * local NED frame. The angular velocity needs to be expressed in the
     * body (fcu_frd) frame.
     */
    if (odom.child_frame_id == MAV_FRAME_BODY_FRD) {
        /* Linear velocity has to be rotated to the local NED frame
         * Angular velocities are already in the right body frame  */
        const matrix::Dcmf R_body_to_local = matrix::Dcmf(q_body_to_local);

        /* the linear velocities needs to be transformed to the local NED frame */
        matrix::Vector3<float> linvel_local(R_body_to_local * matrix::Vector3<float>(odom.vx, odom.vy, odom.vz));

        odometry.vx = linvel_local(0);
        odometry.vy = linvel_local(1);
        odometry.vz = linvel_local(2);

        odometry.rollspeed = odom.rollspeed;
        odometry.pitchspeed = odom.pitchspeed;
        odometry.yawspeed = odom.yawspeed;

        //TODO: Apply rotation matrix to transform from body-fixed NED to earth-fixed NED frame
        for (size_t i = 0; i < VEL_URT_SIZE; i++) {
            odometry.velocity_covariance[i] = odom.velocity_covariance[i];
        }

    } else {
        PX4_ERR("Body frame %u not supported. Unable to publish velocity", odom.child_frame_id);
    }

    if (odom.frame_id == MAV_FRAME_LOCAL_FRD) {
        _visual_odometry_pub.publish(odometry);

    } else if (odom.frame_id == MAV_FRAME_MOCAP_NED) {
        _mocap_odometry_pub.publish(odometry);

    } else {
        PX4_ERR("Local frame %u not supported. Unable to publish pose and velocity", odom.frame_id);
    }
}

void MavlinkReceiver::fill_thrust(float *thrust_body_array, uint8_t vehicle_type, float thrust)
{
    // Fill correct field by checking frametype
    // TODO: add as needed
    switch (_mavlink->get_system_type()) {
    case MAV_TYPE_GENERIC:
        break;

    case MAV_TYPE_FIXED_WING:
    case MAV_TYPE_GROUND_ROVER:
        thrust_body_array[0] = thrust;
        break;

    case MAV_TYPE_QUADROTOR:
    case MAV_TYPE_HEXAROTOR:
    case MAV_TYPE_OCTOROTOR:
    case MAV_TYPE_TRICOPTER:
    case MAV_TYPE_HELICOPTER:
        thrust_body_array[2] = -thrust;
        break;

    case MAV_TYPE_VTOL_DUOROTOR:
    case MAV_TYPE_VTOL_QUADROTOR:
    case MAV_TYPE_VTOL_TILTROTOR:
    case MAV_TYPE_VTOL_RESERVED2:
    case MAV_TYPE_VTOL_RESERVED3:
    case MAV_TYPE_VTOL_RESERVED4:
    case MAV_TYPE_VTOL_RESERVED5:
        switch (vehicle_type) {
        case vehicle_status_s::VEHICLE_TYPE_FIXED_WING:
            thrust_body_array[0] = thrust;

            break;

        case vehicle_status_s::VEHICLE_TYPE_ROTARY_WING:
            thrust_body_array[2] = -thrust;

            break;

        default:
            // This should never happen
            break;
        }

        break;
    }
}

void
MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
{
    mavlink_set_attitude_target_t set_attitude_target;
    mavlink_msg_set_attitude_target_decode(msg, &set_attitude_target);

    bool values_finite =
        PX4_ISFINITE(set_attitude_target.q[0]) &&
        PX4_ISFINITE(set_attitude_target.q[1]) &&
        PX4_ISFINITE(set_attitude_target.q[2]) &&
        PX4_ISFINITE(set_attitude_target.q[3]) &&
        PX4_ISFINITE(set_attitude_target.thrust) &&
        PX4_ISFINITE(set_attitude_target.body_roll_rate) &&
        PX4_ISFINITE(set_attitude_target.body_pitch_rate) &&
        PX4_ISFINITE(set_attitude_target.body_yaw_rate);

    /* Only accept messages which are intended for this system */
    if ((mavlink_system.sysid == set_attitude_target.target_system ||
         set_attitude_target.target_system == 0) &&
        (mavlink_system.compid == set_attitude_target.target_component ||
         set_attitude_target.target_component == 0) &&
        values_finite) {

        offboard_control_mode_s offboard_control_mode{};

        /* set correct ignore flags for thrust field: copy from mavlink message */
        offboard_control_mode.ignore_thrust = (bool)(set_attitude_target.type_mask & (1 << 6));

        /*
         * The tricky part in parsing this message is that the offboard sender *can* set attitude and thrust
         * using different messages. Eg.: First send set_attitude_target containing the attitude and ignore
         * bits set for everything else and then send set_attitude_target containing the thrust and ignore bits
         * set for everything else.
         */

        /*
         * if attitude or body rate have been used (not ignored) previously and this message only sends
         * throttle and has the ignore bits set for attitude and rates don't change the flags for attitude and
         * body rates to keep the controllers running
         */
        bool ignore_bodyrate_msg_x = (bool)(set_attitude_target.type_mask & 0x1);
        bool ignore_bodyrate_msg_y = (bool)(set_attitude_target.type_mask & 0x2);
        bool ignore_bodyrate_msg_z = (bool)(set_attitude_target.type_mask & 0x4);
        bool ignore_attitude_msg = (bool)(set_attitude_target.type_mask & (1 << 7));


        if ((ignore_bodyrate_msg_x || ignore_bodyrate_msg_y ||
             ignore_bodyrate_msg_z) &&
            ignore_attitude_msg && !offboard_control_mode.ignore_thrust) {

            /* Message want's us to ignore everything except thrust: only ignore if previously ignored */
            offboard_control_mode.ignore_bodyrate_x = ignore_bodyrate_msg_x && offboard_control_mode.ignore_bodyrate_x;
            offboard_control_mode.ignore_bodyrate_y = ignore_bodyrate_msg_y && offboard_control_mode.ignore_bodyrate_y;
            offboard_control_mode.ignore_bodyrate_z = ignore_bodyrate_msg_z && offboard_control_mode.ignore_bodyrate_z;
            offboard_control_mode.ignore_attitude = ignore_attitude_msg && offboard_control_mode.ignore_attitude;

        } else {
            offboard_control_mode.ignore_bodyrate_x = ignore_bodyrate_msg_x;
            offboard_control_mode.ignore_bodyrate_y = ignore_bodyrate_msg_y;
            offboard_control_mode.ignore_bodyrate_z = ignore_bodyrate_msg_z;
            offboard_control_mode.ignore_attitude = ignore_attitude_msg;
        }

        offboard_control_mode.ignore_position = true;
        offboard_control_mode.ignore_velocity = true;
        offboard_control_mode.ignore_acceleration_force = true;

        offboard_control_mode.timestamp = hrt_absolute_time();

        _offboard_control_mode_pub.publish(offboard_control_mode);

        /* If we are in offboard control mode and offboard control loop through is enabled
         * also publish the setpoint topic which is read by the controller */
        if (_mavlink->get_forward_externalsp()) {

            vehicle_control_mode_s control_mode{};
            _control_mode_sub.copy(&control_mode);

            if (control_mode.flag_control_offboard_enabled) {
                vehicle_status_s vehicle_status{};
                _vehicle_status_sub.copy(&vehicle_status);

                /* Publish attitude setpoint if attitude and thrust ignore bits are not set */
                if (!(offboard_control_mode.ignore_attitude)) {
                    vehicle_attitude_setpoint_s att_sp = {};
                    att_sp.timestamp = hrt_absolute_time();

                    if (!ignore_attitude_msg) { // only copy att sp if message contained new data
                        matrix::Quatf q(set_attitude_target.q);
                        q.copyTo(att_sp.q_d);
                        att_sp.q_d_valid = true;

                        matrix::Eulerf euler{q};
                        att_sp.roll_body = euler.phi();
                        att_sp.pitch_body = euler.theta();
                        att_sp.yaw_body = euler.psi();
                        att_sp.yaw_sp_move_rate = 0.0f;
                    }

                    if (!offboard_control_mode.ignore_thrust) { // dont't overwrite thrust if it's invalid
                        fill_thrust(att_sp.thrust_body, vehicle_status.vehicle_type, set_attitude_target.thrust);
                    }

                    // Publish attitude setpoint
                    if (vehicle_status.is_vtol && (vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING)) {
                        _mc_virtual_att_sp_pub.publish(att_sp);

                    } else if (vehicle_status.is_vtol && (vehicle_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING)) {
                        _fw_virtual_att_sp_pub.publish(att_sp);

                    } else {
                        _att_sp_pub.publish(att_sp);
                    }
                }

                /* Publish attitude rate setpoint if bodyrate and thrust ignore bits are not set */
                if (!offboard_control_mode.ignore_bodyrate_x ||
                    !offboard_control_mode.ignore_bodyrate_y ||
                    !offboard_control_mode.ignore_bodyrate_z) {

                    vehicle_rates_setpoint_s rates_sp{};

                    rates_sp.timestamp = hrt_absolute_time();

                    // only copy att rates sp if message contained new data
                    if (!ignore_bodyrate_msg_x) {
                        rates_sp.roll = set_attitude_target.body_roll_rate;
                    }

                    if (!ignore_bodyrate_msg_y) {
                        rates_sp.pitch = set_attitude_target.body_pitch_rate;
                    }

                    if (!ignore_bodyrate_msg_z) {
                        rates_sp.yaw = set_attitude_target.body_yaw_rate;
                    }

                    if (!offboard_control_mode.ignore_thrust) { // dont't overwrite thrust if it's invalid
                        fill_thrust(rates_sp.thrust_body, vehicle_status.vehicle_type, set_attitude_target.thrust);
                    }

                    _rates_sp_pub.publish(rates_sp);
                }
            }
        }
    }
}

void
MavlinkReceiver::handle_message_radio_status(mavlink_message_t *msg)
{
    /* telemetry status supported only on first ORB_MULTI_MAX_INSTANCES mavlink channels */
    if (_mavlink->get_channel() < (mavlink_channel_t)ORB_MULTI_MAX_INSTANCES) {
        mavlink_radio_status_t rstatus;
        mavlink_msg_radio_status_decode(msg, &rstatus);

        radio_status_s status{};

        status.timestamp = hrt_absolute_time();
        status.rssi = rstatus.rssi;
        status.remote_rssi = rstatus.remrssi;
        status.txbuf = rstatus.txbuf;
        status.noise = rstatus.noise;
        status.remote_noise = rstatus.remnoise;
        status.rxerrors = rstatus.rxerrors;
        status.fix = rstatus.fixed;

        _mavlink->update_radio_status(status);

        _radio_status_pub.publish(status);
    }
}

void
MavlinkReceiver::handle_message_ping(mavlink_message_t *msg)
{
    mavlink_ping_t ping;
    mavlink_msg_ping_decode(msg, &ping);

    if ((ping.target_system == 0) &&
        (ping.target_component == 0)) {    // This is a ping request. Return it to the system which requested the ping.

        ping.target_system = msg->sysid;
        ping.target_component = msg->compid;
        mavlink_msg_ping_send_struct(_mavlink->get_channel(), &ping);

    } else if ((ping.target_system == mavlink_system.sysid) &&
           (ping.target_component ==
            mavlink_system.compid)) { // This is a returned ping message from this system. Calculate latency from it.

        const hrt_abstime now = hrt_absolute_time();

        // Calculate round trip time
        float rtt_ms = (now - ping.time_usec) / 1000.0f;

        // Update ping statistics
        struct Mavlink::ping_statistics_s &pstats = _mavlink->get_ping_statistics();

        pstats.last_ping_time = now;

        if (pstats.last_ping_seq == 0 && ping.seq > 0) {
            // This is the first reply we are receiving from an offboard system.
            // We may have been broadcasting pings for some time before it came online,
            // and these do not count as dropped packets.

            // Reset last_ping_seq counter for correct packet drop detection
            pstats.last_ping_seq = ping.seq - 1;
        }

        // We can only count dropped packets after the first message
        if (ping.seq > pstats.last_ping_seq) {
            pstats.dropped_packets += ping.seq - pstats.last_ping_seq - 1;
        }

        pstats.last_ping_seq = ping.seq;
        pstats.last_rtt = rtt_ms;
        pstats.mean_rtt = (rtt_ms + pstats.mean_rtt) / 2.0f;
        pstats.max_rtt = fmaxf(rtt_ms, pstats.max_rtt);
        pstats.min_rtt = pstats.min_rtt > 0.0f ? fminf(rtt_ms, pstats.min_rtt) : rtt_ms;

        /* Ping status is supported only on first ORB_MULTI_MAX_INSTANCES mavlink channels */
        if (_mavlink->get_channel() < (mavlink_channel_t)ORB_MULTI_MAX_INSTANCES) {

            ping_s uorb_ping_msg{};

            uorb_ping_msg.timestamp = now;
            uorb_ping_msg.ping_time = ping.time_usec;
            uorb_ping_msg.ping_sequence = ping.seq;
            uorb_ping_msg.dropped_packets = pstats.dropped_packets;
            uorb_ping_msg.rtt_ms = rtt_ms;
            uorb_ping_msg.system_id = msg->sysid;
            uorb_ping_msg.component_id = msg->compid;

            _ping_pub.publish(uorb_ping_msg);
        }
    }
}

void
MavlinkReceiver::handle_message_battery_status(mavlink_message_t *msg)
{
    if ((msg->sysid != mavlink_system.sysid) || (msg->compid == mavlink_system.compid)) {
        // ignore battery status coming from other systems or from the autopilot itself
        return;
    }

    // external battery measurements
    mavlink_battery_status_t battery_mavlink;
    mavlink_msg_battery_status_decode(msg, &battery_mavlink);

    battery_status_s battery_status{};
    battery_status.timestamp = hrt_absolute_time();

    float voltage_sum = 0.0f;
    uint8_t cell_count = 0;

    while (battery_mavlink.voltages[cell_count] < UINT16_MAX && cell_count < 10) {
        voltage_sum += (float)(battery_mavlink.voltages[cell_count]) / 1000.0f;
        cell_count++;
    }

    battery_status.voltage_v = voltage_sum;
    battery_status.voltage_filtered_v  = voltage_sum;
    battery_status.current_a = battery_status.current_filtered_a = (float)(battery_mavlink.current_battery) / 100.0f;
    battery_status.current_filtered_a = battery_status.current_a;
    battery_status.remaining = (float)battery_mavlink.battery_remaining / 100.0f;
    battery_status.discharged_mah = (float)battery_mavlink.current_consumed;
    battery_status.cell_count = cell_count;
    battery_status.connected = true;

    // Set the battery warning based on remaining charge.
    //  Note: Smallest values must come first in evaluation.
    if (battery_status.remaining < _param_bat_emergen_thr.get()) {
        battery_status.warning = battery_status_s::BATTERY_WARNING_EMERGENCY;

    } else if (battery_status.remaining < _param_bat_crit_thr.get()) {
        battery_status.warning = battery_status_s::BATTERY_WARNING_CRITICAL;

    } else if (battery_status.remaining < _param_bat_low_thr.get()) {
        battery_status.warning = battery_status_s::BATTERY_WARNING_LOW;
    }

    _battery_pub.publish(battery_status);
}

void
MavlinkReceiver::handle_message_serial_control(mavlink_message_t *msg)
{
    mavlink_serial_control_t serial_control_mavlink;
    mavlink_msg_serial_control_decode(msg, &serial_control_mavlink);

    // we only support shell commands
    if (serial_control_mavlink.device != SERIAL_CONTROL_DEV_SHELL
        || (serial_control_mavlink.flags & SERIAL_CONTROL_FLAG_REPLY)) {
        return;
    }

    MavlinkShell *shell = _mavlink->get_shell();

    if (shell) {
        // we ignore the timeout, EXCLUSIVE & BLOCKING flags of the SERIAL_CONTROL message
        if (serial_control_mavlink.count > 0) {
            shell->write(serial_control_mavlink.data, serial_control_mavlink.count);
        }

        // if no response requested, assume the shell is no longer used
        if ((serial_control_mavlink.flags & SERIAL_CONTROL_FLAG_RESPOND) == 0) {
            _mavlink->close_shell();
        }
    }
}

void
MavlinkReceiver::handle_message_logging_ack(mavlink_message_t *msg)
{
    mavlink_logging_ack_t logging_ack;
    mavlink_msg_logging_ack_decode(msg, &logging_ack);

    MavlinkULog *ulog_streaming = _mavlink->get_ulog_streaming();

    if (ulog_streaming) {
        ulog_streaming->handle_ack(logging_ack);
    }
}

void
MavlinkReceiver::handle_message_play_tune(mavlink_message_t *msg)
{
    mavlink_play_tune_t play_tune;
    mavlink_msg_play_tune_decode(msg, &play_tune);

    char *tune = play_tune.tune;

    if ((mavlink_system.sysid == play_tune.target_system ||
         play_tune.target_system == 0) &&
        (mavlink_system.compid == play_tune.target_component ||
         play_tune.target_component == 0)) {

        if (*tune == 'M') {
            int fd = px4_open(TONE_ALARM0_DEVICE_PATH, PX4_F_WRONLY);

            if (fd >= 0) {
                px4_write(fd, tune, strlen(tune) + 1);
                px4_close(fd);
            }
        }
    }
}

void
MavlinkReceiver::handle_message_obstacle_distance(mavlink_message_t *msg)
{
    mavlink_obstacle_distance_t mavlink_obstacle_distance;
    mavlink_msg_obstacle_distance_decode(msg, &mavlink_obstacle_distance);

    obstacle_distance_s obstacle_distance{};

    obstacle_distance.timestamp = hrt_absolute_time();
    obstacle_distance.sensor_type = mavlink_obstacle_distance.sensor_type;
    memcpy(obstacle_distance.distances, mavlink_obstacle_distance.distances, sizeof(obstacle_distance.distances));

    if (mavlink_obstacle_distance.increment_f > 0.f) {
        obstacle_distance.increment = mavlink_obstacle_distance.increment_f;

    } else {
        obstacle_distance.increment = (float)mavlink_obstacle_distance.increment;
    }

    obstacle_distance.min_distance = mavlink_obstacle_distance.min_distance;
    obstacle_distance.max_distance = mavlink_obstacle_distance.max_distance;
    obstacle_distance.angle_offset = mavlink_obstacle_distance.angle_offset;
    obstacle_distance.frame = mavlink_obstacle_distance.frame;

    _obstacle_distance_pub.publish(obstacle_distance);
}

void
MavlinkReceiver::handle_message_trajectory_representation_waypoints(mavlink_message_t *msg)
{
    mavlink_trajectory_representation_waypoints_t trajectory;
    mavlink_msg_trajectory_representation_waypoints_decode(msg, &trajectory);

    vehicle_trajectory_waypoint_s trajectory_waypoint{};

    trajectory_waypoint.timestamp = hrt_absolute_time();
    const int number_valid_points = trajectory.valid_points;

    for (int i = 0; i < vehicle_trajectory_waypoint_s::NUMBER_POINTS; ++i) {
        trajectory_waypoint.waypoints[i].position[0] = trajectory.pos_x[i];
        trajectory_waypoint.waypoints[i].position[1] = trajectory.pos_y[i];
        trajectory_waypoint.waypoints[i].position[2] = trajectory.pos_z[i];

        trajectory_waypoint.waypoints[i].velocity[0] = trajectory.vel_x[i];
        trajectory_waypoint.waypoints[i].velocity[1] = trajectory.vel_y[i];
        trajectory_waypoint.waypoints[i].velocity[2] = trajectory.vel_z[i];

        trajectory_waypoint.waypoints[i].acceleration[0] = trajectory.acc_x[i];
        trajectory_waypoint.waypoints[i].acceleration[1] = trajectory.acc_y[i];
        trajectory_waypoint.waypoints[i].acceleration[2] = trajectory.acc_z[i];

        trajectory_waypoint.waypoints[i].yaw = trajectory.pos_yaw[i];
        trajectory_waypoint.waypoints[i].yaw_speed = trajectory.vel_yaw[i];

        trajectory_waypoint.waypoints[i].type = UINT8_MAX;
    }

    for (int i = 0; i < number_valid_points; ++i) {
        trajectory_waypoint.waypoints[i].point_valid = true;
    }

    for (int i = number_valid_points; i < vehicle_trajectory_waypoint_s::NUMBER_POINTS; ++i) {
        trajectory_waypoint.waypoints[i].point_valid = false;
    }

    _trajectory_waypoint_pub.publish(trajectory_waypoint);
}

switch_pos_t
MavlinkReceiver::decode_switch_pos(uint16_t buttons, unsigned sw)
{
    // This 2-bit method should be used in the future: (buttons >> (sw * 2)) & 3;
    return (buttons & (1 << sw)) ? manual_control_setpoint_s::SWITCH_POS_ON : manual_control_setpoint_s::SWITCH_POS_OFF;
}

int
MavlinkReceiver::decode_switch_pos_n(uint16_t buttons, unsigned sw)
{
    bool on = (buttons & (1 << sw));

    if (sw < MOM_SWITCH_COUNT) {

        bool last_on = (_mom_switch_state & (1 << sw));

        /* first switch is 2-pos, rest is 2 pos */
        unsigned state_count = (sw == 0) ? 3 : 2;

        /* only transition on low state */
        if (!on && (on != last_on)) {

            _mom_switch_pos[sw]++;

            if (_mom_switch_pos[sw] == state_count) {
                _mom_switch_pos[sw] = 0;
            }
        }

        /* state_count - 1 is the number of intervals and 1000 is the range,
         * with 2 states 0 becomes 0, 1 becomes 1000. With
         * 3 states 0 becomes 0, 1 becomes 500, 2 becomes 1000,
         * and so on for more states.
         */
        return (_mom_switch_pos[sw] * 1000) / (state_count - 1) + 1000;

    } else {
        /* return the current state */
        return on * 1000 + 1000;
    }
}

void
MavlinkReceiver::handle_message_rc_channels_override(mavlink_message_t *msg)
{
    mavlink_rc_channels_override_t man;
    mavlink_msg_rc_channels_override_decode(msg, &man);

    // Check target
    if (man.target_system != 0 && man.target_system != _mavlink->get_system_id()) {
        return;
    }

    // fill uORB message
    input_rc_s rc{};

    // metadata
    rc.timestamp = hrt_absolute_time();
    rc.timestamp_last_signal = rc.timestamp;
    rc.rssi = RC_INPUT_RSSI_MAX;
    rc.rc_failsafe = false;
    rc.rc_lost = false;
    rc.rc_lost_frame_count = 0;
    rc.rc_total_frame_count = 1;
    rc.rc_ppm_frame_length = 0;
    rc.input_source = input_rc_s::RC_INPUT_SOURCE_MAVLINK;

    // channels
    rc.values[0] = man.chan1_raw;
    rc.values[1] = man.chan2_raw;
    rc.values[2] = man.chan3_raw;
    rc.values[3] = man.chan4_raw;
    rc.values[4] = man.chan5_raw;
    rc.values[5] = man.chan6_raw;
    rc.values[6] = man.chan7_raw;
    rc.values[7] = man.chan8_raw;
    rc.values[8] = man.chan9_raw;
    rc.values[9] = man.chan10_raw;
    rc.values[10] = man.chan11_raw;
    rc.values[11] = man.chan12_raw;
    rc.values[12] = man.chan13_raw;
    rc.values[13] = man.chan14_raw;
    rc.values[14] = man.chan15_raw;
    rc.values[15] = man.chan16_raw;
    rc.values[16] = man.chan17_raw;
    rc.values[17] = man.chan18_raw;

    // check how many channels are valid
    for (int i = 17; i >= 0; i--) {
        const bool ignore_max = rc.values[i] == UINT16_MAX; // ignore any channel with value UINT16_MAX
        const bool ignore_zero = (i > 7) && (rc.values[i] == 0); // ignore channel 8-18 if value is 0

        if (ignore_max || ignore_zero) {
            // set all ignored values to zero
            rc.values[i] = 0;

        } else {
            // first channel to not ignore -> set count considering zero-based index
            rc.channel_count = i + 1;
            break;
        }
    }

    // publish uORB message
    _rc_pub.publish(rc);
}

void
MavlinkReceiver::handle_message_manual_control(mavlink_message_t *msg)
{
    mavlink_manual_control_t man;
    mavlink_msg_manual_control_decode(msg, &man);

    // Check target
    if (man.target != 0 && man.target != _mavlink->get_system_id()) {
        return;
    }

    if (_mavlink->get_manual_input_mode_generation()) {

        input_rc_s rc{};
        rc.timestamp = hrt_absolute_time();
        rc.timestamp_last_signal = rc.timestamp;

        rc.channel_count = 8;
        rc.rc_failsafe = false;
        rc.rc_lost = false;
        rc.rc_lost_frame_count = 0;
        rc.rc_total_frame_count = 1;
        rc.rc_ppm_frame_length = 0;
        rc.input_source = input_rc_s::RC_INPUT_SOURCE_MAVLINK;
        rc.rssi = RC_INPUT_RSSI_MAX;

        rc.values[0] = man.x / 2 + 1500;    // roll
        rc.values[1] = man.y / 2 + 1500;    // pitch
        rc.values[2] = man.r / 2 + 1500;    // yaw
        rc.values[3] = math::constrain(man.z / 0.9f + 800.0f, 1000.0f, 2000.0f);    // throttle

        /* decode all switches which fit into the channel mask */
        unsigned max_switch = (sizeof(man.buttons) * 8);
        unsigned max_channels = (sizeof(rc.values) / sizeof(rc.values[0]));

        if (max_switch > (max_channels - 4)) {
            max_switch = (max_channels - 4);
        }

        /* fill all channels */
        for (unsigned i = 0; i < max_switch; i++) {
            rc.values[i + 4] = decode_switch_pos_n(man.buttons, i);
        }

        _mom_switch_state = man.buttons;

        _rc_pub.publish(rc);

    } else {
        manual_control_setpoint_s manual{};

        manual.timestamp = hrt_absolute_time();
        manual.x = man.x / 1000.0f;
        manual.y = man.y / 1000.0f;
        manual.r = man.r / 1000.0f;
        manual.z = man.z / 1000.0f;
        manual.data_source = manual_control_setpoint_s::SOURCE_MAVLINK_0 + _mavlink->get_instance_id();

        _manual_pub.publish(manual);
    }
}

void
MavlinkReceiver::handle_message_heartbeat(mavlink_message_t *msg)
{
    /* telemetry status supported only on first TELEMETRY_STATUS_ORB_ID_NUM mavlink channels */
    if (_mavlink->get_channel() < (mavlink_channel_t)ORB_MULTI_MAX_INSTANCES) {
        mavlink_heartbeat_t hb;
        mavlink_msg_heartbeat_decode(msg, &hb);

        /* Accept only heartbeats from GCS or ONBOARD Controller, skip heartbeats from other vehicles */
        if ((msg->sysid != mavlink_system.sysid && hb.type == MAV_TYPE_GCS) || (msg->sysid == mavlink_system.sysid
                && hb.type == MAV_TYPE_ONBOARD_CONTROLLER)) {

            telemetry_status_s &tstatus = _mavlink->get_telemetry_status();

            /* set heartbeat time and topic time and publish -
             * the telem status also gets updated on telemetry events
             */
            tstatus.heartbeat_time = hrt_absolute_time();
            tstatus.remote_system_id = msg->sysid;
            tstatus.remote_component_id = msg->compid;
            tstatus.remote_type = hb.type;
            tstatus.remote_system_status = hb.system_status;
        }

    }
}

int
MavlinkReceiver::set_message_interval(int msgId, float interval, int data_rate)
{
    if (msgId == MAVLINK_MSG_ID_HEARTBEAT) {
        return PX4_ERROR;
    }

    if (data_rate > 0) {
        _mavlink->set_data_rate(data_rate);
    }

    // configure_stream wants a rate (msgs/second), so convert here.
    float rate = 0.f;

    if (interval < -0.00001f) {
        rate = 0.f; // stop the stream

    } else if (interval > 0.00001f) {
        rate = 1000000.0f / interval;

    } else {
        rate = -2.f; // set default rate
    }

    bool found_id = false;


    // The interval between two messages is in microseconds.
    // Set to -1 to disable and 0 to request default rate
    if (msgId != 0) {
        const char *stream_name = get_stream_name(msgId);

        if (stream_name != nullptr) {
            _mavlink->configure_stream_threadsafe(stream_name, rate);
            found_id = true;
        }
    }

    return (found_id ? PX4_OK : PX4_ERROR);
}

void
MavlinkReceiver::get_message_interval(int msgId)
{
    unsigned interval = 0;

    for (const auto &stream : _mavlink->get_streams()) {
        if (stream->get_id() == msgId) {
            interval = stream->get_interval();
            break;
        }
    }

    // send back this value...
    mavlink_msg_message_interval_send(_mavlink->get_channel(), msgId, interval);
}

void
MavlinkReceiver::handle_message_hil_sensor(mavlink_message_t *msg)
{
    mavlink_hil_sensor_t imu;
    mavlink_msg_hil_sensor_decode(msg, &imu);

    const uint64_t timestamp = hrt_absolute_time();

    /* airspeed */
    {
        airspeed_s airspeed{};

        float ias = calc_IAS(imu.diff_pressure * 1e2f);
        float scale = 1.0f; //assume no instrument or pitot placement errors
        float eas = calc_EAS_from_IAS(ias, scale);
        float tas = calc_TAS_from_EAS(eas, imu.abs_pressure * 100, imu.temperature);

        airspeed.timestamp = timestamp;
        airspeed.indicated_airspeed_m_s = ias;
        airspeed.true_airspeed_m_s = tas;

        _airspeed_pub.publish(airspeed);
    }

    /* gyro */
    {
        sensor_gyro_s gyro{};

        gyro.timestamp = timestamp;
        gyro.x_raw = imu.xgyro * 1000.0f;
        gyro.y_raw = imu.ygyro * 1000.0f;
        gyro.z_raw = imu.zgyro * 1000.0f;
        gyro.x = imu.xgyro;
        gyro.y = imu.ygyro;
        gyro.z = imu.zgyro;
        gyro.temperature = imu.temperature;

        _gyro_pub.publish(gyro);
    }

    /* accelerometer */
    {
        sensor_accel_s accel{};

        accel.timestamp = timestamp;
        accel.x_raw = imu.xacc / (CONSTANTS_ONE_G / 1000.0f);
        accel.y_raw = imu.yacc / (CONSTANTS_ONE_G / 1000.0f);
        accel.z_raw = imu.zacc / (CONSTANTS_ONE_G / 1000.0f);
        accel.x = imu.xacc;
        accel.y = imu.yacc;
        accel.z = imu.zacc;
        accel.temperature = imu.temperature;

        _accel_pub.publish(accel);
    }

    /* magnetometer */
    {
        sensor_mag_s mag{};

        mag.timestamp = timestamp;
        mag.x_raw = imu.xmag * 1000.0f;
        mag.y_raw = imu.ymag * 1000.0f;
        mag.z_raw = imu.zmag * 1000.0f;
        mag.x = imu.xmag;
        mag.y = imu.ymag;
        mag.z = imu.zmag;

        _mag_pub.publish(mag);
    }

    /* baro */
    {
        sensor_baro_s baro{};

        baro.timestamp = timestamp;
        baro.pressure = imu.abs_pressure;
        baro.temperature = imu.temperature;

        /* fake device ID */
        baro.device_id = 1234567;

        _baro_pub.publish(baro);
    }

    /* battery status */
    {
        battery_status_s hil_battery_status{};

        hil_battery_status.timestamp = timestamp;
        hil_battery_status.voltage_v = 11.5f;
        hil_battery_status.voltage_filtered_v = 11.5f;
        hil_battery_status.current_a = 10.0f;
        hil_battery_status.discharged_mah = -1.0f;

        _battery_pub.publish(hil_battery_status);
    }
}

void
MavlinkReceiver::handle_message_hil_gps(mavlink_message_t *msg)
{
    mavlink_hil_gps_t gps;
    mavlink_msg_hil_gps_decode(msg, &gps);

    const uint64_t timestamp = hrt_absolute_time();

    struct vehicle_gps_position_s hil_gps = {};

    hil_gps.timestamp_time_relative = 0;
    hil_gps.time_utc_usec = gps.time_usec;

    hil_gps.timestamp = timestamp;
    hil_gps.lat = gps.lat;
    hil_gps.lon = gps.lon;
    hil_gps.alt = gps.alt;
    hil_gps.eph = (float)gps.eph * 1e-2f; // from cm to m
    hil_gps.epv = (float)gps.epv * 1e-2f; // from cm to m

    hil_gps.s_variance_m_s = 0.1f;

    hil_gps.vel_m_s = (float)gps.vel * 1e-2f; // from cm/s to m/s
    hil_gps.vel_n_m_s = gps.vn * 1e-2f; // from cm to m
    hil_gps.vel_e_m_s = gps.ve * 1e-2f; // from cm to m
    hil_gps.vel_d_m_s = gps.vd * 1e-2f; // from cm to m
    hil_gps.vel_ned_valid = true;
    hil_gps.cog_rad = ((gps.cog == 65535) ? NAN : wrap_2pi(math::radians(gps.cog * 1e-2f)));

    hil_gps.fix_type = gps.fix_type;
    hil_gps.satellites_used = gps.satellites_visible;  //TODO: rename mavlink_hil_gps_t sats visible to used?

    hil_gps.heading = NAN;
    hil_gps.heading_offset = NAN;

    _gps_pub.publish(hil_gps);
}

void
MavlinkReceiver::handle_message_follow_target(mavlink_message_t *msg)
{
    mavlink_follow_target_t follow_target_msg;
    mavlink_msg_follow_target_decode(msg, &follow_target_msg);

    follow_target_s follow_target_topic{};

    follow_target_topic.timestamp = hrt_absolute_time();
    follow_target_topic.lat = follow_target_msg.lat * 1e-7;
    follow_target_topic.lon = follow_target_msg.lon * 1e-7;
    follow_target_topic.alt = follow_target_msg.alt;

    _follow_target_pub.publish(follow_target_topic);
}

void
MavlinkReceiver::handle_message_landing_target(mavlink_message_t *msg)
{
    mavlink_landing_target_t landing_target;
    mavlink_msg_landing_target_decode(msg, &landing_target);

    if (landing_target.position_valid && landing_target.frame == MAV_FRAME_LOCAL_NED) {
        landing_target_pose_s landing_target_pose{};

        landing_target_pose.timestamp = _mavlink_timesync.sync_stamp(landing_target.time_usec);
        landing_target_pose.abs_pos_valid = true;
        landing_target_pose.x_abs = landing_target.x;
        landing_target_pose.y_abs = landing_target.y;
        landing_target_pose.z_abs = landing_target.z;

        _landing_target_pose_pub.publish(landing_target_pose);
    }
}

void
MavlinkReceiver::handle_message_cellular_status(mavlink_message_t *msg)
{
    mavlink_cellular_status_t status;
    mavlink_msg_cellular_status_decode(msg, &status);

    cellular_status_s cellular_status{};

    cellular_status.timestamp = hrt_absolute_time();
    cellular_status.status = status.status;
    cellular_status.type = status.type;
    cellular_status.quality = status.quality;
    cellular_status.mcc = status.mcc;
    cellular_status.mnc = status.mnc;
    cellular_status.lac = status.lac;
    cellular_status.cid = status.cid;

    _cellular_status_pub.publish(cellular_status);
}

void
MavlinkReceiver::handle_message_adsb_vehicle(mavlink_message_t *msg)
{
    mavlink_adsb_vehicle_t adsb;
    mavlink_msg_adsb_vehicle_decode(msg, &adsb);

    transponder_report_s t{};

    t.timestamp = hrt_absolute_time();

    t.icao_address = adsb.ICAO_address;
    t.lat = adsb.lat * 1e-7;
    t.lon = adsb.lon * 1e-7;
    t.altitude_type = adsb.altitude_type;
    t.altitude = adsb.altitude / 1000.0f;
    t.heading = adsb.heading / 100.0f / 180.0f * M_PI_F - M_PI_F;
    t.hor_velocity = adsb.hor_velocity / 100.0f;
    t.ver_velocity = adsb.ver_velocity / 100.0f;
    memcpy(&t.callsign[0], &adsb.callsign[0], sizeof(t.callsign));
    t.emitter_type = adsb.emitter_type;
    t.tslc = adsb.tslc;
    t.squawk = adsb.squawk;

    t.flags = transponder_report_s::PX4_ADSB_FLAGS_RETRANSLATE;  //Unset in receiver already broadcast its messages

    if (adsb.flags & ADSB_FLAGS_VALID_COORDS) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_COORDS; }

    if (adsb.flags & ADSB_FLAGS_VALID_ALTITUDE) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_ALTITUDE; }

    if (adsb.flags & ADSB_FLAGS_VALID_HEADING) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_HEADING; }

    if (adsb.flags & ADSB_FLAGS_VALID_VELOCITY) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_VELOCITY; }

    if (adsb.flags & ADSB_FLAGS_VALID_CALLSIGN) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_CALLSIGN; }

    if (adsb.flags & ADSB_FLAGS_VALID_SQUAWK) { t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_SQUAWK; }

    //PX4_INFO("code: %d callsign: %s, vel: %8.4f, tslc: %d", (int)t.ICAO_address, t.callsign, (double)t.hor_velocity, (int)t.tslc);

    _transponder_report_pub.publish(t);
}

void
MavlinkReceiver::handle_message_utm_global_position(mavlink_message_t *msg)
{
    mavlink_utm_global_position_t utm_pos;
    mavlink_msg_utm_global_position_decode(msg, &utm_pos);

    // Convert cm/s to m/s
    float vx = utm_pos.vx / 100.0f;
    float vy = utm_pos.vy / 100.0f;
    float vz = utm_pos.vz / 100.0f;

    transponder_report_s t{};
    t.timestamp = hrt_absolute_time();
    // TODO: ID
    t.lat = utm_pos.lat * 1e-7;
    t.lon = utm_pos.lon * 1e-7;
    t.altitude = utm_pos.alt / 1000.0f;
    t.altitude_type = ADSB_ALTITUDE_TYPE_GEOMETRIC;
    // UTM_GLOBAL_POSIION uses NED (north, east, down) coordinates for velocity, in cm / s.
    t.heading = atan2f(vy, vx);
    t.hor_velocity = sqrtf(vy * vy + vx * vx);
    t.ver_velocity = -vz;
    // TODO: Callsign
    // For now, set it to all 0s. This is a null-terminated string, so not explicitly giving it a null
    // terminator could cause problems.
    memset(&t.callsign[0], 0, sizeof(t.callsign));
    t.emitter_type = ADSB_EMITTER_TYPE_NO_INFO;  // TODO: Is this correct?

    // The Mavlink docs do not specify what to do if tslc (time since last communication) is out of range of
    // an 8-bit int, or if this is the first communication.
    // Here, I assume that if this is the first communication, tslc = 0.
    // If tslc > 255, then tslc = 255.
    unsigned long time_passed = (t.timestamp - _last_utm_global_pos_com) / 1000000;

    if (_last_utm_global_pos_com == 0) {
        time_passed = 0;

    } else if (time_passed > UINT8_MAX) {
        time_passed = UINT8_MAX;
    }

    t.tslc = (uint8_t) time_passed;

    t.flags = 0;

    if (utm_pos.flags & UTM_DATA_AVAIL_FLAGS_POSITION_AVAILABLE) {
        t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_COORDS;
    }

    if (utm_pos.flags & UTM_DATA_AVAIL_FLAGS_ALTITUDE_AVAILABLE) {
        t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_ALTITUDE;
    }

    if (utm_pos.flags & UTM_DATA_AVAIL_FLAGS_HORIZONTAL_VELO_AVAILABLE) {
        t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_HEADING;
        t.flags |= transponder_report_s::PX4_ADSB_FLAGS_VALID_VELOCITY;
    }

    // Note: t.flags has deliberately NOT set VALID_CALLSIGN or VALID_SQUAWK, because UTM_GLOBAL_POSITION does not
    // provide these.
    _transponder_report_pub.publish(t);

    _last_utm_global_pos_com = t.timestamp;
}

void
MavlinkReceiver::handle_message_collision(mavlink_message_t *msg)
{
    mavlink_collision_t collision;
    mavlink_msg_collision_decode(msg, &collision);

    collision_report_s collision_report{};

    collision_report.timestamp = hrt_absolute_time();
    collision_report.src = collision.src;
    collision_report.id = collision.id;
    collision_report.action = collision.action;
    collision_report.threat_level = collision.threat_level;
    collision_report.time_to_minimum_delta = collision.time_to_minimum_delta;
    collision_report.altitude_minimum_delta = collision.altitude_minimum_delta;
    collision_report.horizontal_minimum_delta = collision.horizontal_minimum_delta;

    _collision_report_pub.publish(collision_report);
}

void
MavlinkReceiver::handle_message_gps_rtcm_data(mavlink_message_t *msg)
{
    mavlink_gps_rtcm_data_t gps_rtcm_data_msg;
    mavlink_msg_gps_rtcm_data_decode(msg, &gps_rtcm_data_msg);

    gps_inject_data_s gps_inject_data_topic{};

    gps_inject_data_topic.len = math::min((int)sizeof(gps_rtcm_data_msg.data),
                          (int)sizeof(uint8_t) * gps_rtcm_data_msg.len);
    gps_inject_data_topic.flags = gps_rtcm_data_msg.flags;
    memcpy(gps_inject_data_topic.data, gps_rtcm_data_msg.data,
           math::min((int)sizeof(gps_inject_data_topic.data), (int)sizeof(uint8_t) * gps_inject_data_topic.len));

    _gps_inject_data_pub.publish(gps_inject_data_topic);
}

void
MavlinkReceiver::handle_message_hil_state_quaternion(mavlink_message_t *msg)
{
    mavlink_hil_state_quaternion_t hil_state;
    mavlink_msg_hil_state_quaternion_decode(msg, &hil_state);

    const uint64_t timestamp = hrt_absolute_time();

    /* airspeed */
    {
        airspeed_s airspeed{};

        airspeed.timestamp = timestamp;
        airspeed.indicated_airspeed_m_s = hil_state.ind_airspeed * 1e-2f;
        airspeed.true_airspeed_m_s = hil_state.true_airspeed * 1e-2f;

        _airspeed_pub.publish(airspeed);
    }

    /* attitude */
    {
        vehicle_attitude_s hil_attitude{};

        hil_attitude.timestamp = timestamp;

        matrix::Quatf q(hil_state.attitude_quaternion);
        q.copyTo(hil_attitude.q);

        _attitude_pub.publish(hil_attitude);
    }

    /* global position */
    {
        vehicle_global_position_s hil_global_pos{};

        hil_global_pos.timestamp = timestamp;
        hil_global_pos.lat = hil_state.lat / ((double)1e7);
        hil_global_pos.lon = hil_state.lon / ((double)1e7);
        hil_global_pos.alt = hil_state.alt / 1000.0f;
        hil_global_pos.vel_n = hil_state.vx / 100.0f;
        hil_global_pos.vel_e = hil_state.vy / 100.0f;
        hil_global_pos.vel_d = hil_state.vz / 100.0f;
        hil_global_pos.eph = 2.0f;
        hil_global_pos.epv = 4.0f;

        _global_pos_pub.publish(hil_global_pos);
    }

    /* local position */
    {
        double lat = hil_state.lat * 1e-7;
        double lon = hil_state.lon * 1e-7;

        if (!_hil_local_proj_inited) {
            _hil_local_proj_inited = true;
            _hil_local_alt0 = hil_state.alt / 1000.0f;

            map_projection_init(&_hil_local_proj_ref, lat, lon);
        }

        float x = 0.0f;
        float y = 0.0f;
        map_projection_project(&_hil_local_proj_ref, lat, lon, &x, &y);

        vehicle_local_position_s hil_local_pos{};
        hil_local_pos.timestamp = timestamp;

        hil_local_pos.ref_timestamp = _hil_local_proj_ref.timestamp;
        hil_local_pos.ref_lat = math::radians(_hil_local_proj_ref.lat_rad);
        hil_local_pos.ref_lon = math::radians(_hil_local_proj_ref.lon_rad);
        hil_local_pos.ref_alt = _hil_local_alt0;
        hil_local_pos.xy_valid = true;
        hil_local_pos.z_valid = true;
        hil_local_pos.v_xy_valid = true;
        hil_local_pos.v_z_valid = true;
        hil_local_pos.x = x;
        hil_local_pos.y = y;
        hil_local_pos.z = _hil_local_alt0 - hil_state.alt / 1000.0f;
        hil_local_pos.vx = hil_state.vx / 100.0f;
        hil_local_pos.vy = hil_state.vy / 100.0f;
        hil_local_pos.vz = hil_state.vz / 100.0f;

        matrix::Eulerf euler{matrix::Quatf(hil_state.attitude_quaternion)};
        hil_local_pos.yaw = euler.psi();
        hil_local_pos.xy_global = true;
        hil_local_pos.z_global = true;
        hil_local_pos.vxy_max = INFINITY;
        hil_local_pos.vz_max = INFINITY;
        hil_local_pos.hagl_min = INFINITY;
        hil_local_pos.hagl_max = INFINITY;

        _local_pos_pub.publish(hil_local_pos);
    }

    /* accelerometer */
    {
        sensor_accel_s accel{};

        accel.timestamp = timestamp;
        accel.x_raw = hil_state.xacc / CONSTANTS_ONE_G * 1e3f;
        accel.y_raw = hil_state.yacc / CONSTANTS_ONE_G * 1e3f;
        accel.z_raw = hil_state.zacc / CONSTANTS_ONE_G * 1e3f;
        accel.x = hil_state.xacc;
        accel.y = hil_state.yacc;
        accel.z = hil_state.zacc;
        accel.temperature = 25.0f;

        _accel_pub.publish(accel);
    }

    /* gyroscope */
    {
        sensor_gyro_s gyro{};

        gyro.timestamp = timestamp;
        gyro.x_raw = hil_state.rollspeed * 1e3f;
        gyro.y_raw = hil_state.pitchspeed * 1e3f;
        gyro.z_raw = hil_state.yawspeed * 1e3f;
        gyro.x = hil_state.rollspeed;
        gyro.y = hil_state.pitchspeed;
        gyro.z = hil_state.yawspeed;
        gyro.temperature = 25.0f;

        _gyro_pub.publish(gyro);
    }

    /* battery status */
    {
        battery_status_s hil_battery_status{};

        hil_battery_status.timestamp = timestamp;
        hil_battery_status.voltage_v = 11.1f;
        hil_battery_status.voltage_filtered_v = 11.1f;
        hil_battery_status.current_a = 10.0f;
        hil_battery_status.discharged_mah = -1.0f;

        _battery_pub.publish(hil_battery_status);
    }
}

void
MavlinkReceiver::handle_message_named_value_float(mavlink_message_t *msg)
{
    mavlink_named_value_float_t debug_msg;
    mavlink_msg_named_value_float_decode(msg, &debug_msg);

    debug_key_value_s debug_topic{};

    debug_topic.timestamp = hrt_absolute_time();
    memcpy(debug_topic.key, debug_msg.name, sizeof(debug_topic.key));
    debug_topic.key[sizeof(debug_topic.key) - 1] = '\0'; // enforce null termination
    debug_topic.value = debug_msg.value;

    _debug_key_value_pub.publish(debug_topic);
}

void
MavlinkReceiver::handle_message_debug(mavlink_message_t *msg)
{
    mavlink_debug_t debug_msg;
    mavlink_msg_debug_decode(msg, &debug_msg);

    debug_value_s debug_topic{};

    debug_topic.timestamp = hrt_absolute_time();
    debug_topic.ind = debug_msg.ind;
    debug_topic.value = debug_msg.value;

    _debug_value_pub.publish(debug_topic);
}

void
MavlinkReceiver::handle_message_debug_vect(mavlink_message_t *msg)
{
    mavlink_debug_vect_t debug_msg;
    mavlink_msg_debug_vect_decode(msg, &debug_msg);

    debug_vect_s debug_topic{};

    debug_topic.timestamp = hrt_absolute_time();
    memcpy(debug_topic.name, debug_msg.name, sizeof(debug_topic.name));
    debug_topic.name[sizeof(debug_topic.name) - 1] = '\0'; // enforce null termination
    debug_topic.x = debug_msg.x;
    debug_topic.y = debug_msg.y;
    debug_topic.z = debug_msg.z;

    _debug_vect_pub.publish(debug_topic);
}

void
MavlinkReceiver::handle_message_debug_float_array(mavlink_message_t *msg)
{
    mavlink_debug_float_array_t debug_msg;
    mavlink_msg_debug_float_array_decode(msg, &debug_msg);

    debug_array_s debug_topic{};

    debug_topic.timestamp = hrt_absolute_time();
    debug_topic.id = debug_msg.array_id;
    memcpy(debug_topic.name, debug_msg.name, sizeof(debug_topic.name));
    debug_topic.name[sizeof(debug_topic.name) - 1] = '\0'; // enforce null termination

    for (size_t i = 0; i < debug_array_s::ARRAY_SIZE; i++) {
        debug_topic.data[i] = debug_msg.data[i];
    }

    _debug_array_pub.publish(debug_topic);
}

void
MavlinkReceiver::handle_message_onboard_computer_status(mavlink_message_t *msg)
{
    mavlink_onboard_computer_status_t status_msg;
    mavlink_msg_onboard_computer_status_decode(msg, &status_msg);

    onboard_computer_status_s onboard_computer_status_topic{};

    onboard_computer_status_topic.timestamp = hrt_absolute_time();
    onboard_computer_status_topic.uptime = status_msg.uptime;

    onboard_computer_status_topic.type = status_msg.type;

    memcpy(onboard_computer_status_topic.cpu_cores, status_msg.cpu_cores, sizeof(status_msg.cpu_cores));
    memcpy(onboard_computer_status_topic.cpu_combined, status_msg.cpu_combined, sizeof(status_msg.cpu_combined));
    memcpy(onboard_computer_status_topic.gpu_cores, status_msg.gpu_cores, sizeof(status_msg.gpu_cores));
    memcpy(onboard_computer_status_topic.gpu_combined, status_msg.gpu_combined, sizeof(status_msg.gpu_combined));
    onboard_computer_status_topic.temperature_board = status_msg.temperature_board;
    memcpy(onboard_computer_status_topic.temperature_core, status_msg.temperature_core,
           sizeof(status_msg.temperature_core));
    memcpy(onboard_computer_status_topic.fan_speed, status_msg.fan_speed, sizeof(status_msg.fan_speed));
    onboard_computer_status_topic.ram_usage = status_msg.ram_usage;
    onboard_computer_status_topic.ram_total = status_msg.ram_total;
    memcpy(onboard_computer_status_topic.storage_type, status_msg.storage_type, sizeof(status_msg.storage_type));
    memcpy(onboard_computer_status_topic.storage_usage, status_msg.storage_usage, sizeof(status_msg.storage_usage));
    memcpy(onboard_computer_status_topic.storage_total, status_msg.storage_total, sizeof(status_msg.storage_total));
    memcpy(onboard_computer_status_topic.link_type, status_msg.link_type, sizeof(status_msg.link_type));
    memcpy(onboard_computer_status_topic.link_tx_rate, status_msg.link_tx_rate, sizeof(status_msg.link_tx_rate));
    memcpy(onboard_computer_status_topic.link_rx_rate, status_msg.link_rx_rate, sizeof(status_msg.link_rx_rate));
    memcpy(onboard_computer_status_topic.link_tx_max, status_msg.link_tx_max, sizeof(status_msg.link_tx_max));
    memcpy(onboard_computer_status_topic.link_rx_max, status_msg.link_rx_max, sizeof(status_msg.link_rx_max));

    _onboard_computer_status_pub.publish(onboard_computer_status_topic);
}

void MavlinkReceiver::handle_message_statustext(mavlink_message_t *msg)
{
    if (msg->sysid == mavlink_system.sysid) {
        // log message from the same system

        mavlink_statustext_t statustext;
        mavlink_msg_statustext_decode(msg, &statustext);

        log_message_s log_message{};

        log_message.severity = statustext.severity;
        log_message.timestamp = hrt_absolute_time();

        snprintf(log_message.text, sizeof(log_message.text),
             "[mavlink: component %d] %." STRINGIFY(MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN) "s", msg->compid, statustext.text);

        _log_message_pub.publish(log_message);
    }
}

/**
 * Receive data from UART/UDP
 */
void
MavlinkReceiver::Run()
{
    /* set thread name */
    {
        char thread_name[17];
        snprintf(thread_name, sizeof(thread_name), "mavlink_rcv_if%d", _mavlink->get_instance_id());
        px4_prctl(PR_SET_NAME, thread_name, px4_getpid());
    }

    // make sure mavlink app has booted before we start processing anything (parameter sync, etc)
    while (!_mavlink->boot_complete()) {
        if (hrt_elapsed_time(&_mavlink->get_first_start_time()) > 20_s) {
            PX4_ERR("system boot did not complete in 20 seconds");
            _mavlink->set_boot_complete();
        }

        px4_usleep(100000);
    }

    // poll timeout in ms. Also defines the max update frequency of the mission & param manager, etc.
    const int timeout = 10;

#if defined(__PX4_POSIX)
    /* 1500 is the Wifi MTU, so we make sure to fit a full packet */
    uint8_t buf[1600 * 5];
#elif defined(CONFIG_NET)
    /* 1500 is the Wifi MTU, so we make sure to fit a full packet */
    uint8_t buf[1000];
#else
    /* the serial port buffers internally as well, we just need to fit a small chunk */
    uint8_t buf[64];
#endif
    mavlink_message_t msg;

    struct pollfd fds[1] = {};

    if (_mavlink->get_protocol() == Protocol::SERIAL) {
        fds[0].fd = _mavlink->get_uart_fd();
        fds[0].events = POLLIN;
    }

#if defined(MAVLINK_UDP)
    struct sockaddr_in srcaddr = {};
    socklen_t addrlen = sizeof(srcaddr);

    if (_mavlink->get_protocol() == Protocol::UDP) {
        fds[0].fd = _mavlink->get_socket_fd();
        fds[0].events = POLLIN;
    }

#endif // MAVLINK_UDP

    ssize_t nread = 0;
    hrt_abstime last_send_update = 0;

    while (!_mavlink->_task_should_exit) {

        // check for parameter updates
        if (_parameter_update_sub.updated()) {
            // clear update
            parameter_update_s pupdate;
            _parameter_update_sub.copy(&pupdate);

            // update parameters from storage
            updateParams();
        }

        if (poll(&fds[0], 1, timeout) > 0) {
            if (_mavlink->get_protocol() == Protocol::SERIAL) {

                /*
                 * to avoid reading very small chunks wait for data before reading
                 * this is designed to target one message, so >20 bytes at a time
                 */
                const unsigned character_count = 20;

                /* non-blocking read. read may return negative values */
                if ((nread = ::read(fds[0].fd, buf, sizeof(buf))) < (ssize_t)character_count) {
                    const unsigned sleeptime = character_count * 1000000 / (_mavlink->get_baudrate() / 10);
                    px4_usleep(sleeptime);
                }
            }

#if defined(MAVLINK_UDP)

            else if (_mavlink->get_protocol() == Protocol::UDP) {
                if (fds[0].revents & POLLIN) {
                    nread = recvfrom(_mavlink->get_socket_fd(), buf, sizeof(buf), 0, (struct sockaddr *)&srcaddr, &addrlen);
                }

                struct sockaddr_in &srcaddr_last = _mavlink->get_client_source_address();

                int localhost = (127 << 24) + 1;

                if (!_mavlink->get_client_source_initialized()) {

                    // set the address either if localhost or if 3 seconds have passed
                    // this ensures that a GCS running on localhost can get a hold of
                    // the system within the first N seconds
                    hrt_abstime stime = _mavlink->get_start_time();

                    if ((stime != 0 && (hrt_elapsed_time(&stime) > 3_s))
                        || (srcaddr_last.sin_addr.s_addr == htonl(localhost))) {

                        srcaddr_last.sin_addr.s_addr = srcaddr.sin_addr.s_addr;
                        srcaddr_last.sin_port = srcaddr.sin_port;

                        _mavlink->set_client_source_initialized();

                        PX4_INFO("partner IP: %s", inet_ntoa(srcaddr.sin_addr));
                    }
                }
            }

            // only start accepting messages on UDP once we're sure who we talk to
            if (_mavlink->get_protocol() != Protocol::UDP || _mavlink->get_client_source_initialized()) {
#endif // MAVLINK_UDP

                /* if read failed, this loop won't execute */
                for (ssize_t i = 0; i < nread; i++) {
                    if (mavlink_parse_char(_mavlink->get_channel(), buf[i], &msg, &_status)) {

                        /* check if we received version 2 and request a switch. */
                        if (!(_mavlink->get_status()->flags & MAVLINK_STATUS_FLAG_IN_MAVLINK1)) {
                            /* this will only switch to proto version 2 if allowed in settings */
                            _mavlink->set_proto_version(2);
                        }

                        /* handle generic messages and commands */
                        handle_message(&msg);

                        /* handle packet with mission manager */
                        _mission_manager.handle_message(&msg);


                        /* handle packet with parameter component */
                        _parameters_manager.handle_message(&msg);

                        if (_mavlink->ftp_enabled()) {
                            /* handle packet with ftp component */
                            _mavlink_ftp.handle_message(&msg);
                        }

                        /* handle packet with log component */
                        _mavlink_log_handler.handle_message(&msg);

                        /* handle packet with timesync component */
                        _mavlink_timesync.handle_message(&msg);

                        /* handle packet with parent object */
                        _mavlink->handle_message(&msg);
                    }
                }

                /* count received bytes (nread will be -1 on read error) */
                if (nread > 0) {
                    _mavlink->count_rxbytes(nread);
                }

#if defined(MAVLINK_UDP)
            }

#endif // MAVLINK_UDP
        }

        hrt_abstime t = hrt_absolute_time();

        if (t - last_send_update > timeout * 1000) {
            _mission_manager.check_active_mission();
            _mission_manager.send(t);

            _parameters_manager.send(t);

            if (_mavlink->ftp_enabled()) {
                _mavlink_ftp.send(t);
            }

            _mavlink_log_handler.send(t);
            last_send_update = t;
        }

    }
}

void *
MavlinkReceiver::start_helper(void *context)
{
    MavlinkReceiver rcv{(Mavlink *)context};
    rcv.Run();

    return nullptr;
}

void
MavlinkReceiver::receive_start(pthread_t *thread, Mavlink *parent)
{
    pthread_attr_t receiveloop_attr;
    pthread_attr_init(&receiveloop_attr);

    struct sched_param param;
    (void)pthread_attr_getschedparam(&receiveloop_attr, &param);
    param.sched_priority = SCHED_PRIORITY_MAX - 80;
    (void)pthread_attr_setschedparam(&receiveloop_attr, &param);

    pthread_attr_setstacksize(&receiveloop_attr,
                  PX4_STACK_ADJUSTED(sizeof(MavlinkReceiver) + 2840 + MAVLINK_RECEIVER_NET_ADDED_STACK));

    pthread_create(thread, &receiveloop_attr, MavlinkReceiver::start_helper, (void *)parent);

    pthread_attr_destroy(&receiveloop_attr);
}