text: /****************************************************************************
   *
   *   Copyright (c) 2012-2019 PX4 Development Team. All rights reserved.
   *
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions
   * are met:
   *
   * 1. Redistributions of source code must retain the above copyright
   *    notice, this list of conditions and the following disclaimer.
   * 2. Redistributions in binary form must reproduce the above copyright
   *    notice, this list of conditions and the following disclaimer in
   *    the documentation and/or other materials provided with the
   *    distribution.
   * 3. Neither the name PX4 nor the names of its contributors may be
   *    used to endorse or promote products derived from this software
   *    without specific prior written permission.
   *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
   * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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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>
  
  #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_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;
  
  	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)
  {
  	/* distance sensor */
  	mavlink_distance_sensor_t dist_sensor;
  	mavlink_msg_distance_sensor_decode(msg, &dist_sensor);
  
  	distance_sensor_s d{};
  
  	d.timestamp = hrt_absolute_time(); /* Use system time for now, don't trust sender to attach correct timestamp */
  	d.min_distance = float(dist_sensor.min_distance) * 1e-2f; /* cm to m */
  	d.max_distance = float(dist_sensor.max_distance) * 1e-2f; /* cm to m */
  	d.current_distance = float(dist_sensor.current_distance) * 1e-2f; /* cm to m */
  	d.type = dist_sensor.type;
  	d.id = 	MAV_DISTANCE_SENSOR_LASER;
  	d.orientation = dist_sensor.orientation;
  	d.variance = dist_sensor.covariance * 1e-4f; // cm^2 to m^2
  
  	/// TODO Add sensor rotation according to MAV_SENSOR_ORIENTATION enum
  	_distance_sensor_pub.publish(d);
  }
  
  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) {
  
  		/* 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_VISION_NED) {
  		_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::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) {
  
  				/* 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 correct field by checking frametype
  						// TODO: add as needed
  						switch (_mavlink->get_system_type()) {
  						case MAV_TYPE_GENERIC:
  							break;
  
  						case MAV_TYPE_FIXED_WING:
  							att_sp.thrust_body[0] = set_attitude_target.thrust;
  							break;
  
  						case MAV_TYPE_QUADROTOR:
  						case MAV_TYPE_HEXAROTOR:
  						case MAV_TYPE_OCTOROTOR:
  						case MAV_TYPE_TRICOPTER:
  						case MAV_TYPE_HELICOPTER:
  							att_sp.thrust_body[2] = -set_attitude_target.thrust;
  							break;
  
  						case MAV_TYPE_GROUND_ROVER:
  							att_sp.thrust_body[0] = set_attitude_target.thrust;
  							break;
  						}
  					}
  
  					_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
  						switch (_mavlink->get_system_type()) {
  						case MAV_TYPE_GENERIC:
  							break;
  
  						case MAV_TYPE_FIXED_WING:
  							rates_sp.thrust_body[0] = set_attitude_target.thrust;
  							break;
  
  						case MAV_TYPE_QUADROTOR:
  						case MAV_TYPE_HEXAROTOR:
  						case MAV_TYPE_OCTOROTOR:
  						case MAV_TYPE_TRICOPTER:
  						case MAV_TYPE_HELICOPTER:
  							rates_sp.thrust_body[2] = -set_attitude_target.thrust;
  							break;
  
  						case MAV_TYPE_GROUND_ROVER:
  							rates_sp.thrust_body[0] = set_attitude_target.thrust;
  							break;
  						}
  
  					}
  
  					_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) {
  		// ignore battery status of other system
  		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_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);
  }
  
  /**
   * 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_absolute_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 updated parameters.
  		if (_param_update_sub.updated()) {
  			update_params();
  		}
  
  		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 once we're sure who we talk to
  			if (_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);
  }
  
  void
  MavlinkReceiver::update_params()
  {
  	parameter_update_s param_update;
  	_param_update_sub.update(&param_update);
  	updateParams();
  }
  