using Vehicle instead of UAS

libs/mavlink/include/mavlink/v1.0

@@ -1 +1 @@
-Subproject commit 621bb1f70d17548b3f159fb30514023960be41f1
+Subproject commit e93ac62981a338a7c823364e7c4ff1077e3f8fc1

src/Vehicle/Vehicle.cc

@@ -469,6 +469,9 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
     case MAVLINK_MSG_ID_WIND_COV:
         _handleWindCov(message);
         break;
+    case MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS:
+        _handleHilActuatorControls(message);
+        break;
 
     // Following are ArduPilot dialect messages
 
@@ -499,6 +502,30 @@ void Vehicle::_handleAutopilotVersion(mavlink_message_t& message)
     }
 }
 
+void Vehicle::_handleHilActuatorControls(mavlink_message_t &message)
+{
+    mavlink_hil_actuator_controls_t hil;
+    mavlink_msg_hil_actuator_controls_decode(&message, &hil);
+    emit hilActuatorControlsChanged(hil.time_usec, hil.flags,
+                                    hil.controls[0],
+                                    hil.controls[1],
+                                    hil.controls[2],
+                                    hil.controls[3],
+                                    hil.controls[4],
+                                    hil.controls[5],
+                                    hil.controls[6],
+                                    hil.controls[7],
+                                    hil.controls[8],
+                                    hil.controls[9],
+                                    hil.controls[10],
+                                    hil.controls[11],
+                                    hil.controls[12],
+                                    hil.controls[13],
+                                    hil.controls[14],
+                                    hil.controls[15],
+                                    hil.mode);
+}
+
 void Vehicle::_handleCommandAck(mavlink_message_t& message)
 {
     mavlink_command_ack_t ack;

src/Vehicle/Vehicle.h

@@ -683,6 +683,7 @@ private:
     void _handleExtendedSysState(mavlink_message_t& message);
     void _handleCommandAck(mavlink_message_t& message);
     void _handleAutopilotVersion(mavlink_message_t& message);
+    void _handleHilActuatorControls(mavlink_message_t& message);
     void _missionManagerError(int errorCode, const QString& errorMsg);
     void _geoFenceManagerError(int errorCode, const QString& errorMsg);
     void _mapTrajectoryStart(void);

src/comm/QGCXPlaneLink.cc

@@ -190,7 +190,7 @@ void QGCXPlaneLink::run()
     QObject::connect(socket, &QUdpSocket::readyRead, this, &QGCXPlaneLink::readBytes);
 
     connect(_vehicle->uas(), &UAS::hilControlsChanged, this, &QGCXPlaneLink::updateControls, Qt::QueuedConnection);
-    connect(_vehicle->uas(), &UAS::hilActuatorControlsChanged, this, &QGCXPlaneLink::updateActuatorControls, Qt::QueuedConnection);
+    connect(_vehicle, &Vehicle::hilActuatorControlsChanged, this, &QGCXPlaneLink::updateActuatorControls, Qt::QueuedConnection);
 
     connect(this, &QGCXPlaneLink::hilGroundTruthChanged, _vehicle->uas(), &UAS::sendHilGroundTruth, Qt::QueuedConnection);
     connect(this, &QGCXPlaneLink::hilStateChanged, _vehicle->uas(), &UAS::sendHilState, Qt::QueuedConnection);
@@ -504,6 +504,10 @@ void QGCXPlaneLink::updateActuatorControls(quint64 time, quint64 flags, float ct
             sendDataRef("sim/flightmodel/controls/wing1r_ail1def", ctl_9 * max_surface_deflection);
             sendDataRef("sim/flightmodel/controls/wing2l_ail1def", ctl_10 * max_surface_deflection);
             sendDataRef("sim/flightmodel/controls/wing2r_ail1def", ctl_11 * max_surface_deflection);
+            sendDataRef("sim/flightmodel/controls/wing1l_ail2def", ctl_12 * max_surface_deflection);
+            sendDataRef("sim/flightmodel/controls/wing1r_ail2def", ctl_13 * max_surface_deflection);
+            sendDataRef("sim/flightmodel/controls/wing2l_ail2def", ctl_14 * max_surface_deflection);
+            sendDataRef("sim/flightmodel/controls/wing2r_ail2def", ctl_15 * max_surface_deflection);
 
             break;
         }

src/uas/UAS.cc

@@ -429,30 +429,6 @@ void UAS::receiveMessage(mavlink_message_t message)
             emit hilControlsChanged(hil.time_usec, hil.roll_ailerons, hil.pitch_elevator, hil.yaw_rudder, hil.throttle, hil.mode, hil.nav_mode);
         }
             break;
-        case MAVLINK_MSG_ID_HIL_ACTUATOR_CONTROLS:
-        {
-            mavlink_hil_actuator_controls_t hil;
-            mavlink_msg_hil_actuator_controls_decode(&message, &hil);
-            emit hilActuatorControlsChanged(hil.time_usec, hil.flags,
-                                            hil.controls[0],
-                                            hil.controls[1],
-                                            hil.controls[2],
-                                            hil.controls[3],
-                                            hil.controls[4],
-                                            hil.controls[5],
-                                            hil.controls[6],
-                                            hil.controls[7],
-                                            hil.controls[8],
-                                            hil.controls[9],
-                                            hil.controls[10],
-                                            hil.controls[11],
-                                            hil.controls[12],
-                                            hil.controls[13],
-                                            hil.controls[14],
-                                            hil.controls[15],
-                                            hil.mode);
-        }
-            break;
         case MAVLINK_MSG_ID_VFR_HUD:
         {
             mavlink_vfr_hud_t hud;

src/uas/UAS.h

@@ -554,8 +554,6 @@ signals:
     void imageReady(UASInterface* uas);
     /** @brief HIL controls have changed */
     void hilControlsChanged(quint64 time, float rollAilerons, float pitchElevator, float yawRudder, float throttle, quint8 systemMode, quint8 navMode);
-    /** @brief HIL actuator controls (replaces HIL controls) */
-    void hilActuatorControlsChanged(quint64 time, quint64 flags, float ctl_0, float ctl_1, float ctl_2, float ctl_3, float ctl_4, float ctl_5, float ctl_6, float ctl_7, float ctl_8, float ctl_9, float ctl_10, float ctl_11, float ctl_12, float ctl_13, float ctl_14, float ctl_15, quint8 mode);
 
     void localXChanged(double val,QString name);
     void localYChanged(double val,QString name);