8258243043

Committed 13 Mar 2024 12:47AM UTC coverage: 36.094% (-0.3%) from 36.352%

Build # 8258243043

Build Type

push

github

Committed by

web-flow

Commit Message

gimbal: add attitude (#2244)

It's confusing to have this as part of telemetry, especially once we
support more than one gimbal.

Signed-off-by: Julian Oes <julian@oes.ch>

Run Details

32 of 289 new or added lines in 7 files covered. (11.07%)

17 existing lines in 6 files now uncovered.

10089 of 27952 relevant lines covered (36.09%)

124.23 hits per line

Source File
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6.04

/src/mavsdk/plugins/telemetry/telemetry_impl.cpp

#include "telemetry_impl.h"
#include "system.h"
#include "math_conversions.h"
#include "mavsdk_math.h"
#include "callback_list.tpp"

#include <cmath>
#include <functional>
#include <string>
#include <array>
#include <cassert>
#include <unused.h>

namespace mavsdk {

template class CallbackList<Telemetry::PositionVelocityNed>;
template class CallbackList<Telemetry::Position>;
template class CallbackList<bool>;
template class CallbackList<Telemetry::StatusText>;
template class CallbackList<Telemetry::Quaternion>;
template class CallbackList<Telemetry::AngularVelocityBody>;
template class CallbackList<Telemetry::GroundTruth>;
template class CallbackList<Telemetry::FixedwingMetrics>;
template class CallbackList<Telemetry::EulerAngle>;
template class CallbackList<Telemetry::VelocityNed>;
template class CallbackList<Telemetry::Imu>;
template class CallbackList<Telemetry::GpsInfo>;
template class CallbackList<Telemetry::RawGps>;
template class CallbackList<Telemetry::Battery>;
template class CallbackList<Telemetry::FlightMode>;
template class CallbackList<Telemetry::Health>;
template class CallbackList<Telemetry::VtolState>;
template class CallbackList<Telemetry::LandedState>;
template class CallbackList<Telemetry::RcStatus>;
template class CallbackList<uint64_t>;
template class CallbackList<Telemetry::ActuatorControlTarget>;
template class CallbackList<Telemetry::ActuatorOutputStatus>;
template class CallbackList<Telemetry::Odometry>;
template class CallbackList<Telemetry::DistanceSensor>;
template class CallbackList<Telemetry::ScaledPressure>;
template class CallbackList<Telemetry::Heading>;
template class CallbackList<Telemetry::Altitude>;

TelemetryImpl::TelemetryImpl(System& system) : PluginImplBase(system)
{
    _system_impl->register_plugin(this);
}

TelemetryImpl::TelemetryImpl(std::shared_ptr<System> system) : PluginImplBase(std::move(system))
{
    _system_impl->register_plugin(this);
}

TelemetryImpl::~TelemetryImpl()
{
    _system_impl->unregister_plugin(this);
}

void TelemetryImpl::init()
{
    _system_impl->register_mavlink_message_handler(
        MAVLINK_MSG_ID_LOCAL_POSITION_NED,
        [this](const mavlink_message_t& message) { process_position_velocity_ned(message); },
        this);

    _system_impl->register_mavlink_message_handler(
        MAVLINK_MSG_ID_GLOBAL_POSITION_INT,
        [this](const mavlink_message_t& message) { process_global_position_int(message); },
        this);

    _system_impl->register_mavlink_message_handler(
        MAVLINK_MSG_ID_HOME_POSITION,
        [this](const mavlink_message_t& message) { process_home_position(message); },
        this);

    _system_impl->register_mavlink_message_handler(
        MAVLINK_MSG_ID_ATTITUDE,
        [this](const mavlink_message_t& message) { process_attitude(message); },
        this);

    _system_impl->register_mavlink_message_handler(
        MAVLINK_MSG_ID_ATTITUDE_QUATERNION,
        [this](const mavlink_message_t& message) { process_attitude_quaternion(message); },
        this);

    _system_impl->register_mavlink_message_handler(
        MAVLINK_MSG_ID_MOUNT_ORIENTATION,
        [this](const mavlink_message_t& message) { process_mount_orientation(message); },
        this);

    _system_impl->register_mavlink_message_handler(
        MAVLINK_MSG_ID_GIMBAL_DEVICE_ATTITUDE_STATUS,
        [this](const mavlink_message_t& message) {
            process_gimbal_device_attitude_status(message);
        },
        this);

    _system_impl->register_mavlink_message_handler(
        MAVLINK_MSG_ID_GPS_RAW_INT,
        [this](const mavlink_message_t& message) { process_gps_raw_int(message); },
        this);

    _system_impl->register_mavlink_message_handler(
        MAVLINK_MSG_ID_EXTENDED_SYS_STATE,
        [this](const mavlink_message_t& message) { process_extended_sys_state(message); },
        this);

    _system_impl->register_mavlink_message_handler(
        MAVLINK_MSG_ID_SYS_STATUS,
        [this](const mavlink_message_t& message) { process_sys_status(message); },
        this);

    _system_impl->register_mavlink_message_handler(
        MAVLINK_MSG_ID_BATTERY_STATUS,
        [this](const mavlink_message_t& message) { process_battery_status(message); },
        this);

    _system_impl->register_mavlink_message_handler(
        MAVLINK_MSG_ID_HEARTBEAT,
        [this](const mavlink_message_t& message) { process_heartbeat(message); },
        this);

    _system_impl->register_mavlink_message_handler(
        MAVLINK_MSG_ID_RC_CHANNELS,
        [this](const mavlink_message_t& message) { process_rc_channels(message); },
        this);

    _system_impl->register_mavlink_message_handler(
        MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET,
        [this](const mavlink_message_t& message) { process_actuator_control_target(message); },
        this);

    _system_impl->register_mavlink_message_handler(
        MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS,
        [this](const mavlink_message_t& message) { process_actuator_output_status(message); },
        this);

    _system_impl->register_mavlink_message_handler(
        MAVLINK_MSG_ID_ODOMETRY,
        [this](const mavlink_message_t& message) { process_odometry(message); },
        this);

    _system_impl->register_mavlink_message_handler(
        MAVLINK_MSG_ID_DISTANCE_SENSOR,
        [this](const mavlink_message_t& message) { process_distance_sensor(message); },
        this);

    _system_impl->register_mavlink_message_handler(
        MAVLINK_MSG_ID_SCALED_PRESSURE,
        [this](const mavlink_message_t& message) { process_scaled_pressure(message); },
        this);

    _system_impl->register_mavlink_message_handler(
        MAVLINK_MSG_ID_UTM_GLOBAL_POSITION,
        [this](const mavlink_message_t& message) { process_unix_epoch_time(message); },
        this);

    _system_impl->register_mavlink_message_handler(
        MAVLINK_MSG_ID_HIGHRES_IMU,
        [this](const mavlink_message_t& message) { process_imu_reading_ned(message); },
        this);

    _system_impl->register_mavlink_message_handler(
        MAVLINK_MSG_ID_SCALED_IMU,
        [this](const mavlink_message_t& message) { process_scaled_imu(message); },
        this);

    _system_impl->register_mavlink_message_handler(
        MAVLINK_MSG_ID_RAW_IMU,
        [this](const mavlink_message_t& message) { process_raw_imu(message); },
        this);

    _system_impl->register_mavlink_message_handler(
        MAVLINK_MSG_ID_VFR_HUD,
        [this](const mavlink_message_t& message) { process_fixedwing_metrics(message); },
        this);

    _system_impl->register_mavlink_message_handler(
        MAVLINK_MSG_ID_HIL_STATE_QUATERNION,
        [this](const mavlink_message_t& message) { process_ground_truth(message); },
        this);

    _system_impl->register_mavlink_message_handler(
        MAVLINK_MSG_ID_ALTITUDE,
        [this](const mavlink_message_t& message) { process_altitude(message); },
        this);

    _system_impl->register_param_changed_handler(
        [this](const std::string& name) { process_parameter_update(name); }, this);

    _system_impl->register_statustext_handler(
        [this](const MavlinkStatustextHandler::Statustext& statustext) {
            receive_statustext(statustext);
        },
        this);
}

void TelemetryImpl::deinit()
{
    _system_impl->cancel_all_param(this);
    _system_impl->remove_call_every(_calibration_cookie);
    _system_impl->unregister_statustext_handler(this);
    _system_impl->unregister_timeout_handler(_gps_raw_timeout_cookie);
    _system_impl->unregister_timeout_handler(_unix_epoch_timeout_cookie);
    _system_impl->unregister_param_changed_handler(this);
    _system_impl->unregister_all_mavlink_message_handlers(this);

    _has_received_gyro_calibration = false;
    _has_received_accel_calibration = false;
    _has_received_mag_calibration = false;

    {
        std::lock_guard<std::mutex> lock(_ap_calibration_mutex);
        _ap_calibration = {};
    }

    _sys_status_used_for_position = SysStatusUsed::Unknown;
}

void TelemetryImpl::enable()
{
    _system_impl->register_timeout_handler(
        [this]() { receive_gps_raw_timeout(); }, 2.0, &_gps_raw_timeout_cookie);

    _system_impl->register_timeout_handler(
        [this]() { receive_unix_epoch_timeout(); }, 2.0, &_unix_epoch_timeout_cookie);

    // FIXME: The calibration check should eventually be better than this.
    //        For now, we just do the same as QGC does.

    _system_impl->add_call_every([this]() { check_calibration(); }, 5.0, &_calibration_cookie);

    // We're going to retry until we have the Home Position.
    _system_impl->add_call_every(
        [this]() { request_home_position_again(); }, 2.0f, &_homepos_cookie);
}

void TelemetryImpl::disable()
{
    _system_impl->remove_call_every(_calibration_cookie);
    _system_impl->remove_call_every(_homepos_cookie);
}

void TelemetryImpl::request_home_position_again()
{
    {
        std::lock_guard<std::mutex> lock(_request_home_position_mutex);
        if (_health.is_home_position_ok) {
            _system_impl->remove_call_every(_homepos_cookie);
            return;
        }
    }
    request_home_position_async();
}

Telemetry::Result TelemetryImpl::set_rate_position_velocity_ned(double rate_hz)
{
    return telemetry_result_from_command_result(
        _system_impl->set_msg_rate(MAVLINK_MSG_ID_LOCAL_POSITION_NED, rate_hz));
}

Telemetry::Result TelemetryImpl::set_rate_position(double rate_hz)
{
    _position_rate_hz = rate_hz;
    double max_rate_hz = std::max(_position_rate_hz, _velocity_ned_rate_hz);

    return telemetry_result_from_command_result(
        _system_impl->set_msg_rate(MAVLINK_MSG_ID_GLOBAL_POSITION_INT, max_rate_hz));
}

Telemetry::Result TelemetryImpl::set_rate_home(double rate_hz)
{
    return telemetry_result_from_command_result(
        _system_impl->set_msg_rate(MAVLINK_MSG_ID_HOME_POSITION, rate_hz));
}

Telemetry::Result TelemetryImpl::set_rate_in_air(double rate_hz)
{
    return set_rate_landed_state(rate_hz);
}

Telemetry::Result TelemetryImpl::set_rate_vtol_state(double rate_hz)
{
    return set_rate_landed_state(rate_hz);
}

Telemetry::Result TelemetryImpl::set_rate_landed_state(double rate_hz)
{
    return telemetry_result_from_command_result(
        _system_impl->set_msg_rate(MAVLINK_MSG_ID_EXTENDED_SYS_STATE, rate_hz));
}

Telemetry::Result TelemetryImpl::set_rate_attitude_quaternion(double rate_hz)
{
    return telemetry_result_from_command_result(
        _system_impl->set_msg_rate(MAVLINK_MSG_ID_ATTITUDE_QUATERNION, rate_hz));
}

Telemetry::Result TelemetryImpl::set_rate_attitude_euler(double rate_hz)
{
    return telemetry_result_from_command_result(
        _system_impl->set_msg_rate(MAVLINK_MSG_ID_ATTITUDE, rate_hz));
}

Telemetry::Result TelemetryImpl::set_rate_camera_attitude(double rate_hz)
{
    return telemetry_result_from_command_result(
        _system_impl->set_msg_rate(MAVLINK_MSG_ID_MOUNT_ORIENTATION, rate_hz));
}

Telemetry::Result TelemetryImpl::set_rate_velocity_ned(double rate_hz)
{
    _velocity_ned_rate_hz = rate_hz;
    double max_rate_hz = std::max(_position_rate_hz, _velocity_ned_rate_hz);

    return telemetry_result_from_command_result(
        _system_impl->set_msg_rate(MAVLINK_MSG_ID_GLOBAL_POSITION_INT, max_rate_hz));
}

Telemetry::Result TelemetryImpl::set_rate_imu(double rate_hz)
{
    return telemetry_result_from_command_result(
        _system_impl->set_msg_rate(MAVLINK_MSG_ID_HIGHRES_IMU, rate_hz));
}

Telemetry::Result TelemetryImpl::set_rate_scaled_imu(double rate_hz)
{
    return telemetry_result_from_command_result(
        _system_impl->set_msg_rate(MAVLINK_MSG_ID_SCALED_IMU, rate_hz));
}

Telemetry::Result TelemetryImpl::set_rate_raw_imu(double rate_hz)
{
    return telemetry_result_from_command_result(
        _system_impl->set_msg_rate(MAVLINK_MSG_ID_RAW_IMU, rate_hz));
}

Telemetry::Result TelemetryImpl::set_rate_fixedwing_metrics(double rate_hz)
{
    return telemetry_result_from_command_result(
        _system_impl->set_msg_rate(MAVLINK_MSG_ID_VFR_HUD, rate_hz));
}

Telemetry::Result TelemetryImpl::set_rate_ground_truth(double rate_hz)
{
    return telemetry_result_from_command_result(
        _system_impl->set_msg_rate(MAVLINK_MSG_ID_HIL_STATE_QUATERNION, rate_hz));
}

Telemetry::Result TelemetryImpl::set_rate_gps_info(double rate_hz)
{
    return telemetry_result_from_command_result(
        _system_impl->set_msg_rate(MAVLINK_MSG_ID_GPS_RAW_INT, rate_hz));
}

Telemetry::Result TelemetryImpl::set_rate_battery(double rate_hz)
{
    return telemetry_result_from_command_result(
        _system_impl->set_msg_rate(MAVLINK_MSG_ID_BATTERY_STATUS, rate_hz));
}

Telemetry::Result TelemetryImpl::set_rate_rc_status(double rate_hz)
{
    UNUSED(rate_hz);
    LogWarn() << "System status is usually fixed at 1 Hz";
    return Telemetry::Result::Unsupported;
}

Telemetry::Result TelemetryImpl::set_rate_actuator_control_target(double rate_hz)
{
    return telemetry_result_from_command_result(
        _system_impl->set_msg_rate(MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET, rate_hz));
}

Telemetry::Result TelemetryImpl::set_rate_actuator_output_status(double rate_hz)
{
    return telemetry_result_from_command_result(
        _system_impl->set_msg_rate(MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS, rate_hz));
}

Telemetry::Result TelemetryImpl::set_rate_odometry(double rate_hz)
{
    return telemetry_result_from_command_result(
        _system_impl->set_msg_rate(MAVLINK_MSG_ID_ODOMETRY, rate_hz));
}

Telemetry::Result TelemetryImpl::set_rate_distance_sensor(double rate_hz)
{
    return telemetry_result_from_command_result(
        _system_impl->set_msg_rate(MAVLINK_MSG_ID_DISTANCE_SENSOR, rate_hz));
}

Telemetry::Result TelemetryImpl::set_rate_scaled_pressure(double rate_hz)
{
    return telemetry_result_from_command_result(
        _system_impl->set_msg_rate(MAVLINK_MSG_ID_SCALED_PRESSURE, rate_hz));
}

Telemetry::Result TelemetryImpl::set_rate_unix_epoch_time(double rate_hz)
{
    return telemetry_result_from_command_result(
        _system_impl->set_msg_rate(MAVLINK_MSG_ID_UTM_GLOBAL_POSITION, rate_hz));
}

Telemetry::Result TelemetryImpl::set_rate_altitude(double rate_hz)
{
    return telemetry_result_from_command_result(
        _system_impl->set_msg_rate(MAVLINK_MSG_ID_ALTITUDE, rate_hz));
}

void TelemetryImpl::set_rate_position_velocity_ned_async(
    double rate_hz, Telemetry::ResultCallback callback)
{
    _system_impl->set_msg_rate_async(
        MAVLINK_MSG_ID_LOCAL_POSITION_NED,
        rate_hz,
        [callback](MavlinkCommandSender::Result command_result, float) {
            command_result_callback(command_result, callback);
        });
}

void TelemetryImpl::set_rate_position_async(double rate_hz, Telemetry::ResultCallback callback)
{
    _position_rate_hz = rate_hz;
    double max_rate_hz = std::max(_position_rate_hz, _velocity_ned_rate_hz);

    _system_impl->set_msg_rate_async(
        MAVLINK_MSG_ID_GLOBAL_POSITION_INT,
        max_rate_hz,
        [callback](MavlinkCommandSender::Result command_result, float) {
            command_result_callback(command_result, callback);
        });
}

void TelemetryImpl::set_rate_home_async(double rate_hz, Telemetry::ResultCallback callback)
{
    _system_impl->set_msg_rate_async(
        MAVLINK_MSG_ID_HOME_POSITION,
        rate_hz,
        [callback](MavlinkCommandSender::Result command_result, float) {
            command_result_callback(command_result, callback);
        });
}

void TelemetryImpl::set_rate_in_air_async(double rate_hz, Telemetry::ResultCallback callback)
{
    set_rate_landed_state_async(rate_hz, callback);
}

void TelemetryImpl::set_rate_vtol_state_async(double rate_hz, Telemetry::ResultCallback callback)
{
    set_rate_landed_state_async(rate_hz, callback);
}

void TelemetryImpl::set_rate_landed_state_async(double rate_hz, Telemetry::ResultCallback callback)
{
    _system_impl->set_msg_rate_async(
        MAVLINK_MSG_ID_EXTENDED_SYS_STATE,
        rate_hz,
        [callback](MavlinkCommandSender::Result command_result, float) {
            command_result_callback(command_result, callback);
        });
}

void TelemetryImpl::set_rate_altitude_async(double rate_hz, Telemetry::ResultCallback callback)
{
    _system_impl->set_msg_rate_async(
        MAVLINK_MSG_ID_ALTITUDE,
        rate_hz,
        [callback](MavlinkCommandSender::Result command_result, float) {
            command_result_callback(command_result, callback);
        });
}

void TelemetryImpl::set_rate_attitude_quaternion_async(
    double rate_hz, Telemetry::ResultCallback callback)
{
    _system_impl->set_msg_rate_async(
        MAVLINK_MSG_ID_ATTITUDE_QUATERNION,
        rate_hz,
        [callback](MavlinkCommandSender::Result command_result, float) {
            command_result_callback(command_result, callback);
        });
}

void TelemetryImpl::set_rate_attitude_euler_async(
    double rate_hz, Telemetry::ResultCallback callback)
{
    _system_impl->set_msg_rate_async(
        MAVLINK_MSG_ID_ATTITUDE,
        rate_hz,
        [callback](MavlinkCommandSender::Result command_result, float) {
            command_result_callback(command_result, callback);
        });
}

void TelemetryImpl::set_rate_camera_attitude_async(
    double rate_hz, Telemetry::ResultCallback callback)
{
    _system_impl->set_msg_rate_async(
        MAVLINK_MSG_ID_MOUNT_ORIENTATION,
        rate_hz,
        [callback](MavlinkCommandSender::Result command_result, float) {
            command_result_callback(command_result, callback);
        });
}

void TelemetryImpl::set_rate_velocity_ned_async(double rate_hz, Telemetry::ResultCallback callback)
{
    _velocity_ned_rate_hz = rate_hz;
    double max_rate_hz = std::max(_position_rate_hz, _velocity_ned_rate_hz);

    _system_impl->set_msg_rate_async(
        MAVLINK_MSG_ID_GLOBAL_POSITION_INT,
        max_rate_hz,
        [callback](MavlinkCommandSender::Result command_result, float) {
            command_result_callback(command_result, callback);
        });
}

void TelemetryImpl::set_rate_imu_async(double rate_hz, Telemetry::ResultCallback callback)
{
    _system_impl->set_msg_rate_async(
        MAVLINK_MSG_ID_HIGHRES_IMU,
        rate_hz,
        [callback](MavlinkCommandSender::Result command_result, float) {
            command_result_callback(command_result, callback);
        });
}

void TelemetryImpl::set_rate_scaled_imu_async(double rate_hz, Telemetry::ResultCallback callback)
{
    _system_impl->set_msg_rate_async(
        MAVLINK_MSG_ID_SCALED_IMU,
        rate_hz,
        [callback](MavlinkCommandSender::Result command_result, float) {
            command_result_callback(command_result, callback);
        });
}

void TelemetryImpl::set_rate_raw_imu_async(double rate_hz, Telemetry::ResultCallback callback)
{
    _system_impl->set_msg_rate_async(
        MAVLINK_MSG_ID_RAW_IMU,
        rate_hz,
        [callback](MavlinkCommandSender::Result command_result, float) {
            command_result_callback(command_result, callback);
        });
}

void TelemetryImpl::set_rate_fixedwing_metrics_async(
    double rate_hz, Telemetry::ResultCallback callback)
{
    _system_impl->set_msg_rate_async(
        MAVLINK_MSG_ID_VFR_HUD,
        rate_hz,
        [callback](MavlinkCommandSender::Result command_result, float) {
            command_result_callback(command_result, callback);
        });
}

void TelemetryImpl::set_rate_ground_truth_async(double rate_hz, Telemetry::ResultCallback callback)
{
    _system_impl->set_msg_rate_async(
        MAVLINK_MSG_ID_HIL_STATE_QUATERNION,
        rate_hz,
        [callback](MavlinkCommandSender::Result command_result, float) {
            command_result_callback(command_result, callback);
        });
}

void TelemetryImpl::set_rate_gps_info_async(double rate_hz, Telemetry::ResultCallback callback)
{
    _system_impl->set_msg_rate_async(
        MAVLINK_MSG_ID_GPS_RAW_INT,
        rate_hz,
        [callback](MavlinkCommandSender::Result command_result, float) {
            command_result_callback(command_result, callback);
        });
}

void TelemetryImpl::set_rate_battery_async(double rate_hz, Telemetry::ResultCallback callback)
{
    _system_impl->set_msg_rate_async(
        MAVLINK_MSG_ID_BATTERY_STATUS,
        rate_hz,
        [callback](MavlinkCommandSender::Result command_result, float) {
            command_result_callback(command_result, callback);
        });
}

void TelemetryImpl::set_rate_rc_status_async(double rate_hz, Telemetry::ResultCallback callback)
{
    UNUSED(rate_hz);
    LogWarn() << "System status is usually fixed at 1 Hz";
    _system_impl->call_user_callback([callback]() { callback(Telemetry::Result::Unsupported); });
}

void TelemetryImpl::set_rate_unix_epoch_time_async(
    double rate_hz, Telemetry::ResultCallback callback)
{
    _system_impl->set_msg_rate_async(
        MAVLINK_MSG_ID_UTM_GLOBAL_POSITION,
        rate_hz,
        [callback](MavlinkCommandSender::Result command_result, float) {
            command_result_callback(command_result, callback);
        });
}

void TelemetryImpl::set_rate_actuator_control_target_async(
    double rate_hz, Telemetry::ResultCallback callback)
{
    _system_impl->set_msg_rate_async(
        MAVLINK_MSG_ID_ACTUATOR_CONTROL_TARGET,
        rate_hz,
        [callback](MavlinkCommandSender::Result command_result, float) {
            command_result_callback(command_result, callback);
        });
}

void TelemetryImpl::set_rate_actuator_output_status_async(
    double rate_hz, Telemetry::ResultCallback callback)
{
    _system_impl->set_msg_rate_async(
        MAVLINK_MSG_ID_ACTUATOR_OUTPUT_STATUS,
        rate_hz,
        [callback](MavlinkCommandSender::Result command_result, float) {
            command_result_callback(command_result, callback);
        });
}

void TelemetryImpl::set_rate_odometry_async(double rate_hz, Telemetry::ResultCallback callback)
{
    _system_impl->set_msg_rate_async(
        MAVLINK_MSG_ID_ODOMETRY,
        rate_hz,
        [callback](MavlinkCommandSender::Result command_result, float) {
            command_result_callback(command_result, callback);
        });
}

void TelemetryImpl::set_rate_distance_sensor_async(
    double rate_hz, Telemetry::ResultCallback callback)
{
    _system_impl->set_msg_rate_async(
        MAVLINK_MSG_ID_DISTANCE_SENSOR,
        rate_hz,
        [callback](MavlinkCommandSender::Result command_result, float) {
            command_result_callback(command_result, callback);
        });
}

void TelemetryImpl::set_rate_scaled_pressure_async(
    double rate_hz, Telemetry::ResultCallback callback)
{
    _system_impl->set_msg_rate_async(
        MAVLINK_MSG_ID_SCALED_PRESSURE,
        rate_hz,
        [callback](MavlinkCommandSender::Result command_result, float) {
            command_result_callback(command_result, callback);
        });
}

Telemetry::Result
TelemetryImpl::telemetry_result_from_command_result(MavlinkCommandSender::Result command_result)
{
    switch (command_result) {
        case MavlinkCommandSender::Result::Success:
            return Telemetry::Result::Success;
        case MavlinkCommandSender::Result::NoSystem:
            return Telemetry::Result::NoSystem;
        case MavlinkCommandSender::Result::ConnectionError:
            return Telemetry::Result::ConnectionError;
        case MavlinkCommandSender::Result::Busy:
            return Telemetry::Result::Busy;
        case MavlinkCommandSender::Result::Denied:
            // FALLTHROUGH
        case MavlinkCommandSender::Result::TemporarilyRejected:
            return Telemetry::Result::CommandDenied;
        case MavlinkCommandSender::Result::Timeout:
            return Telemetry::Result::Timeout;
        case MavlinkCommandSender::Result::Unsupported:
            return Telemetry::Result::Unsupported;
        default:
            return Telemetry::Result::Unknown;
    }
}

void TelemetryImpl::command_result_callback(
    MavlinkCommandSender::Result command_result, const Telemetry::ResultCallback& callback)
{
    Telemetry::Result action_result = telemetry_result_from_command_result(command_result);

    callback(action_result);
}

void TelemetryImpl::process_position_velocity_ned(const mavlink_message_t& message)
{
    mavlink_local_position_ned_t local_position;
    mavlink_msg_local_position_ned_decode(&message, &local_position);

    Telemetry::PositionVelocityNed position_velocity;
    position_velocity.position.north_m = local_position.x;
    position_velocity.position.east_m = local_position.y;
    position_velocity.position.down_m = local_position.z;
    position_velocity.velocity.north_m_s = local_position.vx;
    position_velocity.velocity.east_m_s = local_position.vy;
    position_velocity.velocity.down_m_s = local_position.vz;

    set_position_velocity_ned(position_velocity);

    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _position_velocity_ned_subscriptions.queue(position_velocity_ned(), [this](const auto& func) {
        _system_impl->call_user_callback(func);
    });

    set_health_local_position(true);
}

void TelemetryImpl::process_global_position_int(const mavlink_message_t& message)
{
    mavlink_global_position_int_t global_position_int;
    mavlink_msg_global_position_int_decode(&message, &global_position_int);

    {
        Telemetry::Position position;
        position.latitude_deg = global_position_int.lat * 1e-7;
        position.longitude_deg = global_position_int.lon * 1e-7;
        position.absolute_altitude_m = global_position_int.alt * 1e-3f;
        position.relative_altitude_m = global_position_int.relative_alt * 1e-3f;
        set_position(position);
    }

    {
        Telemetry::VelocityNed velocity;
        velocity.north_m_s = global_position_int.vx * 1e-2f;
        velocity.east_m_s = global_position_int.vy * 1e-2f;
        velocity.down_m_s = global_position_int.vz * 1e-2f;
        set_velocity_ned(velocity);
    }

    {
        Telemetry::Heading heading;
        heading.heading_deg = (global_position_int.hdg != std::numeric_limits<uint16_t>::max()) ?
                                  static_cast<double>(global_position_int.hdg) * 1e-2 :
                                  static_cast<double>(NAN);
        set_heading(heading);
    }

    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _position_subscriptions.queue(
        position(), [this](const auto& func) { _system_impl->call_user_callback(func); });

    _velocity_ned_subscriptions.queue(
        velocity_ned(), [this](const auto& func) { _system_impl->call_user_callback(func); });

    _heading_subscriptions.queue(
        heading(), [this](const auto& func) { _system_impl->call_user_callback(func); });
}

void TelemetryImpl::process_home_position(const mavlink_message_t& message)
{
    mavlink_home_position_t home_position;
    mavlink_msg_home_position_decode(&message, &home_position);
    Telemetry::Position new_pos;
    new_pos.latitude_deg = home_position.latitude * 1e-7;
    new_pos.longitude_deg = home_position.longitude * 1e-7;
    new_pos.absolute_altitude_m = home_position.altitude * 1e-3f;
    new_pos.relative_altitude_m = 0.0f; // 0 by definition.

    set_home_position(new_pos);

    set_health_home_position(true);

    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _home_position_subscriptions.queue(
        home(), [this](const auto& func) { _system_impl->call_user_callback(func); });
}

void TelemetryImpl::process_attitude(const mavlink_message_t& message)
{
    mavlink_attitude_t attitude;
    mavlink_msg_attitude_decode(&message, &attitude);

    Telemetry::EulerAngle euler_angle;
    euler_angle.roll_deg = to_deg_from_rad(attitude.roll);
    euler_angle.pitch_deg = to_deg_from_rad(attitude.pitch);
    euler_angle.yaw_deg = to_deg_from_rad(attitude.yaw);
    euler_angle.timestamp_us = static_cast<uint64_t>(attitude.time_boot_ms) * 1000;
    set_attitude_euler(euler_angle);

    Telemetry::AngularVelocityBody angular_velocity_body;
    angular_velocity_body.roll_rad_s = attitude.rollspeed;
    angular_velocity_body.pitch_rad_s = attitude.pitchspeed;
    angular_velocity_body.yaw_rad_s = attitude.yawspeed;
    set_attitude_angular_velocity_body(angular_velocity_body);

    _attitude_euler_angle_subscriptions.queue(
        attitude_euler(), [this](const auto& func) { _system_impl->call_user_callback(func); });

    _attitude_angular_velocity_body_subscriptions.queue(
        attitude_angular_velocity_body(),
        [this](const auto& func) { _system_impl->call_user_callback(func); });
}

void TelemetryImpl::process_attitude_quaternion(const mavlink_message_t& message)
{
    mavlink_attitude_quaternion_t mavlink_attitude_quaternion;
    mavlink_msg_attitude_quaternion_decode(&message, &mavlink_attitude_quaternion);

    Telemetry::Quaternion quaternion;
    quaternion.w = mavlink_attitude_quaternion.q1;
    quaternion.x = mavlink_attitude_quaternion.q2;
    quaternion.y = mavlink_attitude_quaternion.q3;
    quaternion.z = mavlink_attitude_quaternion.q4;
    quaternion.timestamp_us =
        static_cast<uint64_t>(mavlink_attitude_quaternion.time_boot_ms) * 1000;

    Telemetry::AngularVelocityBody angular_velocity_body;
    angular_velocity_body.roll_rad_s = mavlink_attitude_quaternion.rollspeed;
    angular_velocity_body.pitch_rad_s = mavlink_attitude_quaternion.pitchspeed;
    angular_velocity_body.yaw_rad_s = mavlink_attitude_quaternion.yawspeed;

    set_attitude_quaternion(quaternion);

    set_attitude_angular_velocity_body(angular_velocity_body);

    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _attitude_quaternion_angle_subscriptions.queue(attitude_quaternion(), [this](const auto& func) {
        _system_impl->call_user_callback(func);
    });

    _attitude_angular_velocity_body_subscriptions.queue(
        attitude_angular_velocity_body(),
        [this](const auto& func) { _system_impl->call_user_callback(func); });
}

void TelemetryImpl::process_altitude(const mavlink_message_t& message)
{
    mavlink_altitude_t mavlink_altitude;
    mavlink_msg_altitude_decode(&message, &mavlink_altitude);

    Telemetry::Altitude new_altitude;
    new_altitude.altitude_monotonic_m = mavlink_altitude.altitude_monotonic;
    new_altitude.altitude_amsl_m = mavlink_altitude.altitude_amsl;
    new_altitude.altitude_local_m = mavlink_altitude.altitude_local;
    new_altitude.altitude_relative_m = mavlink_altitude.altitude_relative;
    new_altitude.altitude_terrain_m = mavlink_altitude.altitude_terrain;
    new_altitude.bottom_clearance_m = mavlink_altitude.bottom_clearance;

    set_altitude(new_altitude);

    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _altitude_subscriptions.queue(
        altitude(), [this](const auto& func) { _system_impl->call_user_callback(func); });
}

void TelemetryImpl::process_mount_orientation(const mavlink_message_t& message)
{
    // TODO: remove this one once we move all the way to gimbal v2 protocol
    mavlink_mount_orientation_t mount_orientation;
    mavlink_msg_mount_orientation_decode(&message, &mount_orientation);

    Telemetry::EulerAngle euler_angle;
    euler_angle.roll_deg = mount_orientation.roll;
    euler_angle.pitch_deg = mount_orientation.pitch;
    euler_angle.yaw_deg = mount_orientation.yaw_absolute;

    set_camera_attitude_euler_angle(euler_angle);

    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _camera_attitude_quaternion_subscriptions.queue(
        camera_attitude_quaternion(),
        [this](const auto& func) { _system_impl->call_user_callback(func); });

    _camera_attitude_euler_angle_subscriptions.queue(
        camera_attitude_euler(),
        [this](const auto& func) { _system_impl->call_user_callback(func); });
}

void TelemetryImpl::process_gimbal_device_attitude_status(const mavlink_message_t& message)
{
    // We accept both MOUNT_ORIENTATION and GIMBAL_DEVICE_ATTITUDE_STATUS for now,
    // in order to support both gimbal v1 and v2 protocols.

    mavlink_gimbal_device_attitude_status_t attitude_status;
    mavlink_msg_gimbal_device_attitude_status_decode(&message, &attitude_status);

    Quaternion quaternion;
    quaternion.w = attitude_status.q[0];
    quaternion.x = attitude_status.q[1];
    quaternion.y = attitude_status.q[2];
    quaternion.z = attitude_status.q[3];

    EulerAngle euler_angle = to_euler_angle_from_quaternion(quaternion);

    auto telemetry_euler_angle = Telemetry::EulerAngle{};
    telemetry_euler_angle.timestamp_us = attitude_status.time_boot_ms * 1000;
    telemetry_euler_angle.roll_deg = euler_angle.roll_deg;
    telemetry_euler_angle.pitch_deg = euler_angle.pitch_deg;
    telemetry_euler_angle.yaw_deg = euler_angle.yaw_deg;

    set_camera_attitude_euler_angle(telemetry_euler_angle);

    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _camera_attitude_quaternion_subscriptions.queue(
        camera_attitude_quaternion(),
        [this](const auto& func) { _system_impl->call_user_callback(func); });

    _camera_attitude_euler_angle_subscriptions.queue(
        camera_attitude_euler(),
        [this](const auto& func) { _system_impl->call_user_callback(func); });
}

void TelemetryImpl::process_imu_reading_ned(const mavlink_message_t& message)
{
    mavlink_highres_imu_t highres_imu;
    mavlink_msg_highres_imu_decode(&message, &highres_imu);
    Telemetry::Imu new_imu;
    new_imu.acceleration_frd.forward_m_s2 = highres_imu.xacc;
    new_imu.acceleration_frd.right_m_s2 = highres_imu.yacc;
    new_imu.acceleration_frd.down_m_s2 = highres_imu.zacc;
    new_imu.angular_velocity_frd.forward_rad_s = highres_imu.xgyro;
    new_imu.angular_velocity_frd.right_rad_s = highres_imu.ygyro;
    new_imu.angular_velocity_frd.down_rad_s = highres_imu.zgyro;
    new_imu.magnetic_field_frd.forward_gauss = highres_imu.xmag;
    new_imu.magnetic_field_frd.right_gauss = highres_imu.ymag;
    new_imu.magnetic_field_frd.down_gauss = highres_imu.zmag;
    new_imu.temperature_degc = highres_imu.temperature;
    new_imu.timestamp_us = highres_imu.time_usec;

    set_imu_reading_ned(new_imu);

    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _imu_reading_ned_subscriptions.queue(
        imu(), [this](const auto& func) { _system_impl->call_user_callback(func); });
}

void TelemetryImpl::process_scaled_imu(const mavlink_message_t& message)
{
    mavlink_scaled_imu_t scaled_imu_reading;
    mavlink_msg_scaled_imu_decode(&message, &scaled_imu_reading);
    Telemetry::Imu new_imu;
    new_imu.acceleration_frd.forward_m_s2 = scaled_imu_reading.xacc;
    new_imu.acceleration_frd.right_m_s2 = scaled_imu_reading.yacc;
    new_imu.acceleration_frd.down_m_s2 = scaled_imu_reading.zacc;
    new_imu.angular_velocity_frd.forward_rad_s = scaled_imu_reading.xgyro;
    new_imu.angular_velocity_frd.right_rad_s = scaled_imu_reading.ygyro;
    new_imu.angular_velocity_frd.down_rad_s = scaled_imu_reading.zgyro;
    new_imu.magnetic_field_frd.forward_gauss = scaled_imu_reading.xmag;
    new_imu.magnetic_field_frd.right_gauss = scaled_imu_reading.ymag;
    new_imu.magnetic_field_frd.down_gauss = scaled_imu_reading.zmag;
    new_imu.temperature_degc = static_cast<float>(scaled_imu_reading.temperature) * 1e-2f;
    new_imu.timestamp_us = static_cast<uint64_t>(scaled_imu_reading.time_boot_ms) * 1000;

    set_scaled_imu(new_imu);

    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _scaled_imu_subscriptions.queue(
        scaled_imu(), [this](const auto& func) { _system_impl->call_user_callback(func); });
}

void TelemetryImpl::process_raw_imu(const mavlink_message_t& message)
{
    mavlink_raw_imu_t raw_imu_reading;
    mavlink_msg_raw_imu_decode(&message, &raw_imu_reading);
    Telemetry::Imu new_imu;
    new_imu.acceleration_frd.forward_m_s2 = raw_imu_reading.xacc;
    new_imu.acceleration_frd.right_m_s2 = raw_imu_reading.yacc;
    new_imu.acceleration_frd.down_m_s2 = raw_imu_reading.zacc;
    new_imu.angular_velocity_frd.forward_rad_s = raw_imu_reading.xgyro;
    new_imu.angular_velocity_frd.right_rad_s = raw_imu_reading.ygyro;
    new_imu.angular_velocity_frd.down_rad_s = raw_imu_reading.zgyro;
    new_imu.magnetic_field_frd.forward_gauss = raw_imu_reading.xmag;
    new_imu.magnetic_field_frd.right_gauss = raw_imu_reading.ymag;
    new_imu.magnetic_field_frd.down_gauss = raw_imu_reading.zmag;
    new_imu.temperature_degc = static_cast<float>(raw_imu_reading.temperature) * 1e-2f;
    new_imu.timestamp_us = raw_imu_reading.time_usec;

    set_raw_imu(new_imu);

    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _raw_imu_subscriptions.queue(
        raw_imu(), [this](const auto& func) { _system_impl->call_user_callback(func); });
}

void TelemetryImpl::process_gps_raw_int(const mavlink_message_t& message)
{
    mavlink_gps_raw_int_t gps_raw_int;
    mavlink_msg_gps_raw_int_decode(&message, &gps_raw_int);

    Telemetry::FixType fix_type;
    switch (gps_raw_int.fix_type) {
        case 0:
            fix_type = Telemetry::FixType::NoGps;
            break;
        case 1:
            fix_type = Telemetry::FixType::NoFix;
            break;
        case 2:
            fix_type = Telemetry::FixType::Fix2D;
            break;
        case 3:
            fix_type = Telemetry::FixType::Fix3D;
            break;
        case 4:
            fix_type = Telemetry::FixType::FixDgps;
            break;
        case 5:
            fix_type = Telemetry::FixType::RtkFloat;
            break;
        case 6:
            fix_type = Telemetry::FixType::RtkFixed;
            break;

        default:
            LogErr() << "Received unknown GPS fix type!";
            fix_type = Telemetry::FixType::NoGps;
            break;
    }

    Telemetry::GpsInfo new_gps_info;
    new_gps_info.num_satellites = gps_raw_int.satellites_visible;
    new_gps_info.fix_type = fix_type;
    set_gps_info(new_gps_info);

    Telemetry::RawGps raw_gps_info;
    raw_gps_info.timestamp_us = gps_raw_int.time_usec;
    raw_gps_info.latitude_deg = gps_raw_int.lat * 1e-7;
    raw_gps_info.longitude_deg = gps_raw_int.lon * 1e-7;
    raw_gps_info.absolute_altitude_m = gps_raw_int.alt * 1e-3f;
    raw_gps_info.hdop = static_cast<float>(gps_raw_int.eph) * 1e-2f;
    raw_gps_info.vdop = static_cast<float>(gps_raw_int.epv) * 1e-2f;
    raw_gps_info.velocity_m_s = static_cast<float>(gps_raw_int.vel) * 1e-2f;
    raw_gps_info.cog_deg = static_cast<float>(gps_raw_int.cog) * 1e-2f;
    raw_gps_info.altitude_ellipsoid_m = static_cast<float>(gps_raw_int.alt_ellipsoid) * 1e-3f;
    raw_gps_info.horizontal_uncertainty_m = static_cast<float>(gps_raw_int.h_acc) * 1e-3f;
    raw_gps_info.vertical_uncertainty_m = static_cast<float>(gps_raw_int.v_acc) * 1e-3f;
    raw_gps_info.velocity_uncertainty_m_s = static_cast<float>(gps_raw_int.vel_acc) * 1e-3f;
    raw_gps_info.heading_uncertainty_deg = static_cast<float>(gps_raw_int.hdg_acc) * 1e-5f;
    raw_gps_info.yaw_deg = static_cast<float>(gps_raw_int.yaw) * 1e-2f;
    set_raw_gps(raw_gps_info);

    if (_sys_status_used_for_position == SysStatusUsed::No) {
        // This is just a fallback if sys_status does not contain the appropriate flags yet.
        const bool gps_ok = ((gps_raw_int.fix_type >= 3) && (gps_raw_int.satellites_visible >= 8));

        set_health_global_position(gps_ok);
    }

    {
        std::lock_guard<std::mutex> lock(_subscription_mutex);
        _gps_info_subscriptions.queue(
            gps_info(), [this](const auto& func) { _system_impl->call_user_callback(func); });
        _raw_gps_subscriptions.queue(
            raw_gps(), [this](const auto& func) { _system_impl->call_user_callback(func); });
    }

    _system_impl->refresh_timeout_handler(_gps_raw_timeout_cookie);
}

void TelemetryImpl::process_ground_truth(const mavlink_message_t& message)
{
    mavlink_hil_state_quaternion_t hil_state_quaternion;
    mavlink_msg_hil_state_quaternion_decode(&message, &hil_state_quaternion);

    Telemetry::GroundTruth new_ground_truth;
    new_ground_truth.latitude_deg = hil_state_quaternion.lat * 1e-7;
    new_ground_truth.longitude_deg = hil_state_quaternion.lon * 1e-7;
    new_ground_truth.absolute_altitude_m = hil_state_quaternion.alt * 1e-3f;

    set_ground_truth(new_ground_truth);

    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _ground_truth_subscriptions.queue(
        ground_truth(), [this](const auto& func) { _system_impl->call_user_callback(func); });
}

void TelemetryImpl::process_extended_sys_state(const mavlink_message_t& message)
{
    mavlink_extended_sys_state_t extended_sys_state;
    mavlink_msg_extended_sys_state_decode(&message, &extended_sys_state);

    {
        Telemetry::LandedState landed_state = to_landed_state(extended_sys_state);
        set_landed_state(landed_state);

        Telemetry::VtolState vtol_state = to_vtol_state(extended_sys_state);
        set_vtol_state(vtol_state);
    }

    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _landed_state_subscriptions.queue(
        landed_state(), [this](const auto& func) { _system_impl->call_user_callback(func); });

    _vtol_state_subscriptions.queue(
        vtol_state(), [this](const auto& func) { _system_impl->call_user_callback(func); });

    if (extended_sys_state.landed_state == MAV_LANDED_STATE_IN_AIR ||
        extended_sys_state.landed_state == MAV_LANDED_STATE_TAKEOFF ||
        extended_sys_state.landed_state == MAV_LANDED_STATE_LANDING) {
        set_in_air(true);
    } else if (extended_sys_state.landed_state == MAV_LANDED_STATE_ON_GROUND) {
        set_in_air(false);
    }
    // If landed_state is undefined, we use what we have received last.

    _in_air_subscriptions.queue(
        in_air(), [this](const auto& func) { _system_impl->call_user_callback(func); });
}
void TelemetryImpl::process_fixedwing_metrics(const mavlink_message_t& message)
{
    mavlink_vfr_hud_t vfr_hud;
    mavlink_msg_vfr_hud_decode(&message, &vfr_hud);

    Telemetry::FixedwingMetrics new_fixedwing_metrics;
    new_fixedwing_metrics.airspeed_m_s = vfr_hud.airspeed;
    new_fixedwing_metrics.throttle_percentage = vfr_hud.throttle * 1e-2f;
    new_fixedwing_metrics.climb_rate_m_s = vfr_hud.climb;

    set_fixedwing_metrics(new_fixedwing_metrics);

    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _fixedwing_metrics_subscriptions.queue(
        fixedwing_metrics(), [this](const auto& func) { _system_impl->call_user_callback(func); });
}

void TelemetryImpl::process_sys_status(const mavlink_message_t& message)
{
    mavlink_sys_status_t sys_status;
    mavlink_msg_sys_status_decode(&message, &sys_status);

    if (!_has_bat_status) {
        Telemetry::Battery new_battery;
        new_battery.voltage_v = sys_status.voltage_battery * 1e-3f;
        new_battery.remaining_percent = sys_status.battery_remaining;

        set_battery(new_battery);

        {
            std::lock_guard<std::mutex> lock(_subscription_mutex);
            _battery_subscriptions.queue(
                battery(), [this](const auto& func) { _system_impl->call_user_callback(func); });
        }
    }

    const bool rc_ok =
        sys_status.onboard_control_sensors_health & MAV_SYS_STATUS_SENSOR_RC_RECEIVER;

    set_rc_status({rc_ok}, std::nullopt);

    if (sys_status.onboard_control_sensors_present & MAV_SYS_STATUS_SENSOR_3D_GYRO) {
        set_health_gyrometer_calibration(
            sys_status.onboard_control_sensors_health & MAV_SYS_STATUS_SENSOR_3D_GYRO);
    } else {
        // If the flag is not supported yet, we fall back to the param.
    }

    if (sys_status.onboard_control_sensors_present & MAV_SYS_STATUS_SENSOR_3D_ACCEL) {
        set_health_accelerometer_calibration(
            sys_status.onboard_control_sensors_health & MAV_SYS_STATUS_SENSOR_3D_ACCEL);
    } else {
        // If the flag is not supported yet, we fall back to the param.
    }

    if (sys_status.onboard_control_sensors_present & MAV_SYS_STATUS_SENSOR_3D_MAG) {
        set_health_magnetometer_calibration(
            sys_status.onboard_control_sensors_health & MAV_SYS_STATUS_SENSOR_3D_MAG);
    } else {
        // If the flag is not supported yet, we fall back to the param.
    }

    const bool global_position_ok =
        sys_status_present_enabled_health(sys_status, MAV_SYS_STATUS_SENSOR_GPS);

    // FIXME: There is nothing really set in PX4 for local position from what I can tell,
    //        so the best we can do for now is to set it based on GPS as a fallback.

    const bool local_position_ok =
        global_position_ok ||
        sys_status_present_enabled_health(sys_status, MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW) ||
        sys_status_present_enabled_health(sys_status, MAV_SYS_STATUS_SENSOR_VISION_POSITION);

    set_health_local_position(local_position_ok);
    set_health_global_position(global_position_ok);

    // If any of these sensors were marked present, we don't have to fall back to check for
    // satellite count.
    _sys_status_used_for_position =
        ((sys_status.onboard_control_sensors_present & MAV_SYS_STATUS_SENSOR_GPS) != 0 ||
         (sys_status.onboard_control_sensors_present & MAV_SYS_STATUS_SENSOR_OPTICAL_FLOW) != 0 ||
         (sys_status.onboard_control_sensors_present & MAV_SYS_STATUS_SENSOR_VISION_POSITION) !=
             0) ?
            SysStatusUsed::Yes :
            SysStatusUsed::No;

    set_rc_status({rc_ok}, std::nullopt);

    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _rc_status_subscriptions.queue(
        rc_status(), [this](const auto& func) { _system_impl->call_user_callback(func); });

    const bool armable = sys_status.onboard_control_sensors_health & MAV_SYS_STATUS_PREARM_CHECK;
    set_health_armable(armable);
    _health_all_ok_subscriptions.queue(
        health_all_ok(), [this](const auto& func) { _system_impl->call_user_callback(func); });
}

bool TelemetryImpl::sys_status_present_enabled_health(
    const mavlink_sys_status_t& sys_status, MAV_SYS_STATUS_SENSOR flag)
{
    // FIXME: it doesn't look like PX4 sets enabled for GPS
    return (sys_status.onboard_control_sensors_present & flag) != 0 &&
           // (sys_status.onboard_control_sensors_enabled & flag) != 0 &&
           (sys_status.onboard_control_sensors_health & flag) != 0;
}

void TelemetryImpl::process_battery_status(const mavlink_message_t& message)
{
    mavlink_battery_status_t bat_status;
    mavlink_msg_battery_status_decode(&message, &bat_status);

    _has_bat_status = true;

    Telemetry::Battery new_battery;
    new_battery.id = bat_status.id;
    new_battery.temperature_degc = (bat_status.temperature == std::numeric_limits<int16_t>::max()) ?
                                       static_cast<float>(NAN) :
                                       bat_status.temperature * 1e-2f; // cdegC to degC
    new_battery.voltage_v = 0.0f;
    for (int i = 0; i < 10; ++i) {
        if (bat_status.voltages[i] == std::numeric_limits<uint16_t>::max()) {
            break;
        }
        new_battery.voltage_v += static_cast<float>(bat_status.voltages[i]) * 1e-3f;
    }

    for (int i = 0; i < 4; ++i) {
        if (bat_status.voltages_ext[i] == std::numeric_limits<uint16_t>::max()) {
            // Some implementations out there set it to UINT16_MAX to signal invalid.
            // That's not up to the spec but we can ignore it nevertheless to be backwards
            // compatible.
            break;
        } else if (bat_status.voltages_ext[i] > 1) {
            // A value of 1 means 0 mV.
            new_battery.voltage_v += static_cast<float>(bat_status.voltages_ext[i]) * 1e-3f;
        }
    }

    new_battery.remaining_percent = bat_status.battery_remaining;
    new_battery.current_battery_a = (bat_status.current_battery == -1) ?
                                        static_cast<float>(NAN) :
                                        bat_status.current_battery * 1e-2f; // cA to A
    new_battery.capacity_consumed_ah = (bat_status.current_consumed == -1) ?
                                           static_cast<float>(NAN) :
                                           bat_status.current_consumed * 1e-3f; // mAh to Ah

    set_battery(new_battery);

    {
        std::lock_guard<std::mutex> lock(_subscription_mutex);
        _battery_subscriptions.queue(
            battery(), [this](const auto& func) { _system_impl->call_user_callback(func); });
    }
}

void TelemetryImpl::process_heartbeat(const mavlink_message_t& message)
{
    if (message.compid != MAV_COMP_ID_AUTOPILOT1) {
        return;
    }

    mavlink_heartbeat_t heartbeat;
    mavlink_msg_heartbeat_decode(&message, &heartbeat);

    set_armed(((heartbeat.base_mode & MAV_MODE_FLAG_SAFETY_ARMED) ? true : false));

    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _armed_subscriptions.queue(
        armed(), [this](const auto& func) { _system_impl->call_user_callback(func); });

    _flight_mode_subscriptions.queue(
        telemetry_flight_mode_from_flight_mode(_system_impl->get_flight_mode()),
        [this](const auto& func) { _system_impl->call_user_callback(func); });

    _health_subscriptions.queue(
        health(), [this](const auto& func) { _system_impl->call_user_callback(func); });

    _health_all_ok_subscriptions.queue(
        health_all_ok(), [this](const auto& func) { _system_impl->call_user_callback(func); });
}

void TelemetryImpl::receive_statustext(const MavlinkStatustextHandler::Statustext& statustext)
{
    Telemetry::StatusText new_status_text;

    switch (statustext.severity) {
        case MAV_SEVERITY_EMERGENCY:
            new_status_text.type = Telemetry::StatusTextType::Emergency;
            break;
        case MAV_SEVERITY_ALERT:
            new_status_text.type = Telemetry::StatusTextType::Alert;
            break;
        case MAV_SEVERITY_CRITICAL:
            new_status_text.type = Telemetry::StatusTextType::Critical;
            break;
        case MAV_SEVERITY_ERROR:
            new_status_text.type = Telemetry::StatusTextType::Error;
            break;
        case MAV_SEVERITY_WARNING:
            new_status_text.type = Telemetry::StatusTextType::Warning;
            break;
        case MAV_SEVERITY_NOTICE:
            new_status_text.type = Telemetry::StatusTextType::Notice;
            break;
        case MAV_SEVERITY_INFO:
            new_status_text.type = Telemetry::StatusTextType::Info;
            break;
        case MAV_SEVERITY_DEBUG:
            new_status_text.type = Telemetry::StatusTextType::Debug;
            break;
        default:
            LogWarn() << "Unknown StatusText severity";
            new_status_text.type = Telemetry::StatusTextType::Info;
            break;
    }

    new_status_text.text = statustext.text;

    set_status_text(new_status_text);

    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _status_text_subscriptions.queue(
        status_text(), [this](const auto& func) { _system_impl->call_user_callback(func); });
}

void TelemetryImpl::process_rc_channels(const mavlink_message_t& message)
{
    mavlink_rc_channels_t rc_channels;
    mavlink_msg_rc_channels_decode(&message, &rc_channels);

    if (rc_channels.rssi != std::numeric_limits<uint8_t>::max()) {
        set_rc_status(std::nullopt, {rc_channels.rssi});
    }

    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _rc_status_subscriptions.queue(
        rc_status(), [this](const auto& func) { _system_impl->call_user_callback(func); });

    _system_impl->refresh_timeout_handler(_rc_channels_timeout_cookie);
}

void TelemetryImpl::process_unix_epoch_time(const mavlink_message_t& message)
{
    mavlink_utm_global_position_t utm_global_position;
    mavlink_msg_utm_global_position_decode(&message, &utm_global_position);

    set_unix_epoch_time_us(utm_global_position.time);

    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _unix_epoch_time_subscriptions.queue(
        unix_epoch_time(), [this](const auto& func) { _system_impl->call_user_callback(func); });

    _system_impl->refresh_timeout_handler(_unix_epoch_timeout_cookie);
}

void TelemetryImpl::process_actuator_control_target(const mavlink_message_t& message)
{
    mavlink_set_actuator_control_target_t target;
    mavlink_msg_set_actuator_control_target_decode(&message, &target);

    uint32_t group = target.group_mlx;
    std::vector<float> controls;

    const unsigned control_size = sizeof(target.controls) / sizeof(target.controls[0]);
    // Can't use std::copy because target is packed.
    for (std::size_t i = 0; i < control_size; ++i) {
        controls.push_back(target.controls[i]);
    }

    set_actuator_control_target(group, controls);

    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _actuator_control_target_subscriptions.queue(
        actuator_control_target(),
        [this](const auto& func) { _system_impl->call_user_callback(func); });
}

void TelemetryImpl::process_actuator_output_status(const mavlink_message_t& message)
{
    mavlink_actuator_output_status_t status;
    mavlink_msg_actuator_output_status_decode(&message, &status);

    uint32_t active = status.active;
    std::vector<float> actuators;

    const unsigned actuators_size = sizeof(status.actuator) / sizeof(status.actuator[0]);
    // Can't use std::copy because status is packed.
    for (std::size_t i = 0; i < actuators_size; ++i) {
        actuators.push_back(status.actuator[i]);
    }

    set_actuator_output_status(active, actuators);

    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _actuator_output_status_subscriptions.queue(actuator_output_status(), [this](const auto& func) {
        _system_impl->call_user_callback(func);
    });
}

void TelemetryImpl::process_odometry(const mavlink_message_t& message)
{
    mavlink_odometry_t odometry_msg;
    mavlink_msg_odometry_decode(&message, &odometry_msg);

    Telemetry::Odometry odometry_struct{};

    odometry_struct.time_usec = odometry_msg.time_usec;
    odometry_struct.frame_id = static_cast<Telemetry::Odometry::MavFrame>(odometry_msg.frame_id);
    odometry_struct.child_frame_id =
        static_cast<Telemetry::Odometry::MavFrame>(odometry_msg.child_frame_id);

    odometry_struct.position_body.x_m = odometry_msg.x;
    odometry_struct.position_body.y_m = odometry_msg.y;
    odometry_struct.position_body.z_m = odometry_msg.z;

    odometry_struct.q.w = odometry_msg.q[0];
    odometry_struct.q.x = odometry_msg.q[1];
    odometry_struct.q.y = odometry_msg.q[2];
    odometry_struct.q.z = odometry_msg.q[3];

    odometry_struct.velocity_body.x_m_s = odometry_msg.vx;
    odometry_struct.velocity_body.y_m_s = odometry_msg.vy;
    odometry_struct.velocity_body.z_m_s = odometry_msg.vz;

    odometry_struct.angular_velocity_body.roll_rad_s = odometry_msg.rollspeed;
    odometry_struct.angular_velocity_body.pitch_rad_s = odometry_msg.pitchspeed;
    odometry_struct.angular_velocity_body.yaw_rad_s = odometry_msg.yawspeed;

    const std::size_t len_pose_covariance =
        sizeof(odometry_msg.pose_covariance) / sizeof(odometry_msg.pose_covariance[0]);
    for (std::size_t i = 0; i < len_pose_covariance; ++i) {
        odometry_struct.pose_covariance.covariance_matrix.push_back(
            odometry_msg.pose_covariance[i]);
    }

    const std::size_t len_velocity_covariance =
        sizeof(odometry_msg.velocity_covariance) / sizeof(odometry_msg.velocity_covariance[0]);
    for (std::size_t i = 0; i < len_velocity_covariance; ++i) {
        odometry_struct.velocity_covariance.covariance_matrix.push_back(
            odometry_msg.velocity_covariance[i]);
    }

    set_odometry(odometry_struct);

    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _odometry_subscriptions.queue(
        odometry(), [this](const auto& func) { _system_impl->call_user_callback(func); });
}

void TelemetryImpl::process_distance_sensor(const mavlink_message_t& message)
{
    mavlink_distance_sensor_t distance_sensor_msg;
    mavlink_msg_distance_sensor_decode(&message, &distance_sensor_msg);

    Telemetry::DistanceSensor distance_sensor_struct{};

    distance_sensor_struct.minimum_distance_m =
        static_cast<float>(distance_sensor_msg.min_distance) * 1e-2f; // cm to m
    distance_sensor_struct.maximum_distance_m =
        static_cast<float>(distance_sensor_msg.max_distance) * 1e-2f; // cm to m
    distance_sensor_struct.current_distance_m =
        static_cast<float>(distance_sensor_msg.current_distance) * 1e-2f; // cm to m
    distance_sensor_struct.orientation = extractOrientation(distance_sensor_msg);

    set_distance_sensor(distance_sensor_struct);

    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _distance_sensor_subscriptions.queue(
        distance_sensor(), [this](const auto& func) { _system_impl->call_user_callback(func); });
}

Telemetry::EulerAngle
TelemetryImpl::extractOrientation(mavlink_distance_sensor_t distance_sensor_msg)
{
    MavSensorOrientation orientation =
        static_cast<MavSensorOrientation>(distance_sensor_msg.orientation);

    Telemetry::EulerAngle euler_angle;
    euler_angle.roll_deg = 0;
    euler_angle.pitch_deg = 0;
    euler_angle.yaw_deg = 0;

    switch (orientation) {
        case MavSensorOrientation::MAV_SENSOR_ROTATION_YAW_45: {
            euler_angle.yaw_deg = 45;
            break;
        }
        case MavSensorOrientation::MAV_SENSOR_ROTATION_YAW_90: {
            euler_angle.yaw_deg = 90;
            break;
        }
        case MavSensorOrientation::MAV_SENSOR_ROTATION_YAW_135: {
            euler_angle.yaw_deg = 135;
            break;
        }
        case MavSensorOrientation::MAV_SENSOR_ROTATION_YAW_180: {
            euler_angle.yaw_deg = 180;
            break;
        }
        case MavSensorOrientation::MAV_SENSOR_ROTATION_YAW_225: {
            euler_angle.yaw_deg = 225;
            break;
        }
        case MavSensorOrientation::MAV_SENSOR_ROTATION_YAW_270: {
            euler_angle.yaw_deg = 270;
            break;
        }
        case MavSensorOrientation::MAV_SENSOR_ROTATION_YAW_315: {
            euler_angle.yaw_deg = 315;
            break;
        }
        case MavSensorOrientation::MAV_SENSOR_ROTATION_ROLL_180: {
            euler_angle.roll_deg = 180;
            break;
        }
        case MavSensorOrientation::MAV_SENSOR_ROTATION_ROLL_180_YAW_45: {
            euler_angle.roll_deg = 180;
            euler_angle.yaw_deg = 45;
            break;
        }
        case MavSensorOrientation::MAV_SENSOR_ROTATION_ROLL_180_YAW_90: {
            euler_angle.roll_deg = 180;
            euler_angle.yaw_deg = 90;
            break;
        }
        case MavSensorOrientation::MAV_SENSOR_ROTATION_ROLL_180_YAW_135: {
            euler_angle.roll_deg = 180;
            euler_angle.yaw_deg = 135;
            break;
        }
        case MavSensorOrientation::MAV_SENSOR_ROTATION_PITCH_180: {
            euler_angle.pitch_deg = 180;
            break;
        }
        case MavSensorOrientation::MAV_SENSOR_ROTATION_ROLL_180_YAW_225: {
            euler_angle.roll_deg = 180;
            euler_angle.yaw_deg = 225;
            break;
        }
        case MavSensorOrientation::MAV_SENSOR_ROTATION_ROLL_180_YAW_270: {
            euler_angle.roll_deg = 180;
            euler_angle.yaw_deg = 270;
            break;
        }
        case MavSensorOrientation::MAV_SENSOR_ROTATION_ROLL_180_YAW_315: {
            euler_angle.roll_deg = 180;
            euler_angle.yaw_deg = 315;
            break;
        }
        case MavSensorOrientation::MAV_SENSOR_ROTATION_ROLL_90: {
            euler_angle.roll_deg = 90;
            break;
        }
        case MavSensorOrientation::MAV_SENSOR_ROTATION_ROLL_90_YAW_45: {
            euler_angle.roll_deg = 90;
            euler_angle.yaw_deg = 45;
            break;
        }
        case MavSensorOrientation::MAV_SENSOR_ROTATION_ROLL_90_YAW_90: {
            euler_angle.roll_deg = 90;
            euler_angle.yaw_deg = 90;
            break;
        }
        case MavSensorOrientation::MAV_SENSOR_ROTATION_ROLL_90_YAW_135: {
            euler_angle.roll_deg = 90;
            euler_angle.yaw_deg = 135;
            break;
        }
        case MavSensorOrientation::MAV_SENSOR_ROTATION_ROLL_270: {
            euler_angle.roll_deg = 270;
            break;
        }
        case MavSensorOrientation::MAV_SENSOR_ROTATION_ROLL_270_YAW_45: {
            euler_angle.roll_deg = 270;
            euler_angle.yaw_deg = 45;
            break;
        }
        case MavSensorOrientation::MAV_SENSOR_ROTATION_ROLL_270_YAW_90: {
            euler_angle.roll_deg = 270;
            euler_angle.yaw_deg = 90;
            break;
        }
        case MavSensorOrientation::MAV_SENSOR_ROTATION_ROLL_270_YAW_135: {
            euler_angle.roll_deg = 270;
            euler_angle.yaw_deg = 135;
            break;
        }
        case MavSensorOrientation::MAV_SENSOR_ROTATION_PITCH_90: {
            euler_angle.pitch_deg = 90;
            break;
        }
        case MavSensorOrientation::MAV_SENSOR_ROTATION_PITCH_270: {
            euler_angle.pitch_deg = 270;
            break;
        }
        case MavSensorOrientation::MAV_SENSOR_ROTATION_PITCH_180_YAW_90: {
            euler_angle.pitch_deg = 180;
            euler_angle.yaw_deg = 90;
            break;
        }
        case MavSensorOrientation::MAV_SENSOR_ROTATION_PITCH_180_YAW_270: {
            euler_angle.pitch_deg = 180;
            euler_angle.yaw_deg = 270;
            break;
        }
        case MavSensorOrientation::MAV_SENSOR_ROTATION_ROLL_90_PITCH_90: {
            euler_angle.roll_deg = 90;
            euler_angle.pitch_deg = 90;
            break;
        }
        case MavSensorOrientation::MAV_SENSOR_ROTATION_ROLL_180_PITCH_90: {
            euler_angle.roll_deg = 180;
            euler_angle.pitch_deg = 90;
            break;
        }
        case MavSensorOrientation::MAV_SENSOR_ROTATION_ROLL_270_PITCH_90: {
            euler_angle.roll_deg = 270;
            euler_angle.pitch_deg = 90;
            break;
        }
        case MavSensorOrientation::MAV_SENSOR_ROTATION_ROLL_90_PITCH_180: {
            euler_angle.roll_deg = 90;
            euler_angle.pitch_deg = 180;
            break;
        }
        case MavSensorOrientation::MAV_SENSOR_ROTATION_ROLL_270_PITCH_180: {
            euler_angle.roll_deg = 270;
            euler_angle.pitch_deg = 180;
            break;
        }
        case MavSensorOrientation::MAV_SENSOR_ROTATION_ROLL_90_PITCH_270: {
            euler_angle.roll_deg = 90;
            euler_angle.pitch_deg = 270;
            break;
        }
        case MavSensorOrientation::MAV_SENSOR_ROTATION_ROLL_180_PITCH_270: {
            euler_angle.roll_deg = 180;
            euler_angle.pitch_deg = 270;
            break;
        }
        case MavSensorOrientation::MAV_SENSOR_ROTATION_ROLL_270_PITCH_270: {
            euler_angle.roll_deg = 270;
            euler_angle.pitch_deg = 270;
            break;
        }
        case MavSensorOrientation::MAV_SENSOR_ROTATION_ROLL_90_PITCH_180_YAW_90: {
            euler_angle.roll_deg = 90;
            euler_angle.pitch_deg = 180;
            euler_angle.yaw_deg = 90;
            break;
        }
        case MavSensorOrientation::MAV_SENSOR_ROTATION_ROLL_90_YAW_270: {
            euler_angle.roll_deg = 90;
            euler_angle.yaw_deg = 270;
            break;
        }
        case MavSensorOrientation::MAV_SENSOR_ROTATION_ROLL_90_PITCH_68_YAW_293: {
            euler_angle.roll_deg = 90;
            euler_angle.pitch_deg = 68;
            euler_angle.yaw_deg = 293;
            break;
        }
        case MavSensorOrientation::MAV_SENSOR_ROTATION_PITCH_315: {
            euler_angle.pitch_deg = 315;
            break;
        }
        case MavSensorOrientation::MAV_SENSOR_ROTATION_ROLL_90_PITCH_315: {
            euler_angle.roll_deg = 90;
            euler_angle.pitch_deg = 315;
            break;
        }
        default: {
            euler_angle.roll_deg = 0;
            euler_angle.pitch_deg = 0;
            euler_angle.yaw_deg = 0;
        }
    }

    return euler_angle;
}

void TelemetryImpl::process_scaled_pressure(const mavlink_message_t& message)
{
    mavlink_scaled_pressure_t scaled_pressure_msg;
    mavlink_msg_scaled_pressure_decode(&message, &scaled_pressure_msg);

    Telemetry::ScaledPressure scaled_pressure_struct{};

    scaled_pressure_struct.timestamp_us =
        static_cast<uint64_t>(scaled_pressure_msg.time_boot_ms) * 1000;
    scaled_pressure_struct.absolute_pressure_hpa = scaled_pressure_msg.press_abs;
    scaled_pressure_struct.differential_pressure_hpa = scaled_pressure_msg.press_diff;
    scaled_pressure_struct.temperature_deg =
        static_cast<float>(scaled_pressure_msg.temperature) * 1e-2f;
    scaled_pressure_struct.differential_pressure_temperature_deg =
        static_cast<float>(scaled_pressure_msg.temperature_press_diff) * 1e-2f;

    set_scaled_pressure(scaled_pressure_struct);

    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _scaled_pressure_subscriptions.queue(
        scaled_pressure(), [this](const auto& func) { _system_impl->call_user_callback(func); });
}

Telemetry::LandedState
TelemetryImpl::to_landed_state(mavlink_extended_sys_state_t extended_sys_state)
{
    switch (extended_sys_state.landed_state) {
        case MAV_LANDED_STATE_IN_AIR:
            return Telemetry::LandedState::InAir;
        case MAV_LANDED_STATE_TAKEOFF:
            return Telemetry::LandedState::TakingOff;
        case MAV_LANDED_STATE_LANDING:
            return Telemetry::LandedState::Landing;
        case MAV_LANDED_STATE_ON_GROUND:
            return Telemetry::LandedState::OnGround;
        default:
            return Telemetry::LandedState::Unknown;
    }
}

Telemetry::VtolState TelemetryImpl::to_vtol_state(mavlink_extended_sys_state_t extended_sys_state)
{
    switch (extended_sys_state.vtol_state) {
        case MAV_VTOL_STATE::MAV_VTOL_STATE_TRANSITION_TO_FW:
            return Telemetry::VtolState::TransitionToFw;
        case MAV_VTOL_STATE_TRANSITION_TO_MC:
            return Telemetry::VtolState::TransitionToMc;
        case MAV_VTOL_STATE_MC:
            return Telemetry::VtolState::Mc;
        case MAV_VTOL_STATE_FW:
            return Telemetry::VtolState::Fw;
        default:
            return Telemetry::VtolState::Undefined;
    }
}

Telemetry::FlightMode TelemetryImpl::telemetry_flight_mode_from_flight_mode(FlightMode flight_mode)
{
    switch (flight_mode) {
        case FlightMode::Ready:
            return Telemetry::FlightMode::Ready;
        case FlightMode::Takeoff:
            return Telemetry::FlightMode::Takeoff;
        case FlightMode::Hold:
            return Telemetry::FlightMode::Hold;
        case FlightMode::Mission:
            return Telemetry::FlightMode::Mission;
        case FlightMode::ReturnToLaunch:
            return Telemetry::FlightMode::ReturnToLaunch;
        case FlightMode::Land:
            return Telemetry::FlightMode::Land;
        case FlightMode::Offboard:
            return Telemetry::FlightMode::Offboard;
        case FlightMode::FollowMe:
            return Telemetry::FlightMode::FollowMe;
        case FlightMode::Manual:
            return Telemetry::FlightMode::Manual;
        case FlightMode::Posctl:
            return Telemetry::FlightMode::Posctl;
        case FlightMode::Altctl:
            return Telemetry::FlightMode::Altctl;
        case FlightMode::Rattitude:
            return Telemetry::FlightMode::Rattitude;
        case FlightMode::Acro:
            return Telemetry::FlightMode::Acro;
        case FlightMode::Stabilized:
            return Telemetry::FlightMode::Stabilized;
        default:
            return Telemetry::FlightMode::Unknown;
    }
}

void TelemetryImpl::receive_param_cal_gyro(MavlinkParameterClient::Result result, int value)
{
    if (result != MavlinkParameterClient::Result::Success) {
        LogErr() << "Error: Param for gyro cal failed.";
        return;
    }

    bool ok = (value != 0);
    set_health_gyrometer_calibration(ok);
}

void TelemetryImpl::receive_param_cal_accel(MavlinkParameterClient::Result result, int value)
{
    if (result != MavlinkParameterClient::Result::Success) {
        LogErr() << "Error: Param for accel cal failed.";
        return;
    }

    bool ok = (value != 0);
    set_health_accelerometer_calibration(ok);
}

void TelemetryImpl::receive_param_cal_mag(MavlinkParameterClient::Result result, int value)
{
    if (result != MavlinkParameterClient::Result::Success) {
        LogErr() << "Error: Param for mag cal failed.";
        return;
    }

    bool ok = (value != 0);
    set_health_magnetometer_calibration(ok);
}

void TelemetryImpl::receive_param_cal_mag_offset_x(
    MavlinkParameterClient::Result result, float value)
{
    if (result != MavlinkParameterClient::Result::Success) {
        LogErr() << "Error: Param for mag offset_x failed.";
        return;
    }

    std::lock_guard<std::mutex> lock(_ap_calibration_mutex);
    _ap_calibration.mag_offset.x = {value};
    if (_ap_calibration.mag_offset.received_all()) {
        set_health_magnetometer_calibration(_ap_calibration.mag_offset.calibrated());
    }
}

void TelemetryImpl::receive_param_cal_mag_offset_y(
    MavlinkParameterClient::Result result, float value)
{
    if (result != MavlinkParameterClient::Result::Success) {
        LogErr() << "Error: Param for mag offset_y failed.";
        return;
    }

    std::lock_guard<std::mutex> lock(_ap_calibration_mutex);
    _ap_calibration.mag_offset.y = {value};
    if (_ap_calibration.mag_offset.received_all()) {
        set_health_magnetometer_calibration(_ap_calibration.mag_offset.calibrated());
    }
}

void TelemetryImpl::receive_param_cal_mag_offset_z(
    MavlinkParameterClient::Result result, float value)
{
    if (result != MavlinkParameterClient::Result::Success) {
        LogErr() << "Error: Param for mag offset_z failed.";
        return;
    }

    std::lock_guard<std::mutex> lock(_ap_calibration_mutex);
    _ap_calibration.mag_offset.z = {value};
    if (_ap_calibration.mag_offset.received_all()) {
        set_health_magnetometer_calibration(_ap_calibration.mag_offset.calibrated());
    }
}

void TelemetryImpl::receive_param_cal_accel_offset_x(
    MavlinkParameterClient::Result result, float value)
{
    if (result != MavlinkParameterClient::Result::Success) {
        LogErr() << "Error: Param for accel offset_x failed.";
        return;
    }

    std::lock_guard<std::mutex> lock(_ap_calibration_mutex);
    _ap_calibration.accel_offset.x = {value};
    if (_ap_calibration.accel_offset.received_all()) {
        set_health_accelerometer_calibration(_ap_calibration.accel_offset.calibrated());
    }
}

void TelemetryImpl::receive_param_cal_accel_offset_y(
    MavlinkParameterClient::Result result, float value)
{
    if (result != MavlinkParameterClient::Result::Success) {
        LogErr() << "Error: Param for accel offset_y failed.";
        return;
    }

    std::lock_guard<std::mutex> lock(_ap_calibration_mutex);
    _ap_calibration.accel_offset.y = {value};
    if (_ap_calibration.accel_offset.received_all()) {
        set_health_accelerometer_calibration(_ap_calibration.accel_offset.calibrated());
    }
}

void TelemetryImpl::receive_param_cal_accel_offset_z(
    MavlinkParameterClient::Result result, float value)
{
    if (result != MavlinkParameterClient::Result::Success) {
        LogErr() << "Error: Param for accel offset_z failed.";
        return;
    }

    std::lock_guard<std::mutex> lock(_ap_calibration_mutex);
    _ap_calibration.accel_offset.z = {value};
    if (_ap_calibration.accel_offset.received_all()) {
        set_health_accelerometer_calibration(_ap_calibration.accel_offset.calibrated());
    }
}

void TelemetryImpl::receive_param_cal_gyro_offset_x(
    MavlinkParameterClient::Result result, float value)
{
    if (result != MavlinkParameterClient::Result::Success) {
        LogErr() << "Error: Param for gyro offset_x failed.";
        return;
    }

    std::lock_guard<std::mutex> lock(_ap_calibration_mutex);
    _ap_calibration.gyro_offset.x = {value};
    if (_ap_calibration.gyro_offset.received_all()) {
        set_health_gyrometer_calibration(_ap_calibration.gyro_offset.calibrated());
    }
}

void TelemetryImpl::receive_param_cal_gyro_offset_y(
    MavlinkParameterClient::Result result, float value)
{
    if (result != MavlinkParameterClient::Result::Success) {
        LogErr() << "Error: Param for gyro offset_y failed.";
        return;
    }

    std::lock_guard<std::mutex> lock(_ap_calibration_mutex);
    _ap_calibration.gyro_offset.y = {value};
    if (_ap_calibration.gyro_offset.received_all()) {
        set_health_gyrometer_calibration(_ap_calibration.gyro_offset.calibrated());
    }
}

void TelemetryImpl::receive_param_cal_gyro_offset_z(
    MavlinkParameterClient::Result result, float value)
{
    if (result != MavlinkParameterClient::Result::Success) {
        LogErr() << "Error: Param for gyro offset_z failed.";
        return;
    }

    std::lock_guard<std::mutex> lock(_ap_calibration_mutex);
    _ap_calibration.gyro_offset.z = {value};
    if (_ap_calibration.gyro_offset.received_all()) {
        set_health_gyrometer_calibration(_ap_calibration.gyro_offset.calibrated());
    }
}

void TelemetryImpl::receive_param_hitl(MavlinkParameterClient::Result result, int value)
{
    if (result != MavlinkParameterClient::Result::Success) {
        LogErr() << "Error: Param to determine hitl failed.";
        return;
    }

    _hitl_enabled = (value > 0);

    // assume sensor calibration ok in hitl
    if (_hitl_enabled) {
        set_health_accelerometer_calibration(true);
        set_health_gyrometer_calibration(true);
        set_health_magnetometer_calibration(true);
    }
    _has_received_hitl_param = true;
}

void TelemetryImpl::receive_gps_raw_timeout()
{
    if (_sys_status_used_for_position == SysStatusUsed::No) {
        const bool position_ok = false;
        set_health_local_position(position_ok);
        set_health_global_position(position_ok);
    }
}

void TelemetryImpl::receive_unix_epoch_timeout()
{
    const uint64_t unix_epoch = 0;
    set_unix_epoch_time_us(unix_epoch);
}

Telemetry::PositionVelocityNed TelemetryImpl::position_velocity_ned() const
{
    std::lock_guard<std::mutex> lock(_position_velocity_ned_mutex);
    return _position_velocity_ned;
}

void TelemetryImpl::set_position_velocity_ned(Telemetry::PositionVelocityNed position_velocity_ned)
{
    std::lock_guard<std::mutex> lock(_position_velocity_ned_mutex);
    _position_velocity_ned = position_velocity_ned;
}

Telemetry::Position TelemetryImpl::position() const
{
    std::lock_guard<std::mutex> lock(_position_mutex);
    return _position;
}

void TelemetryImpl::set_position(Telemetry::Position position)
{
    std::lock_guard<std::mutex> lock(_position_mutex);
    _position = position;
}

Telemetry::Heading TelemetryImpl::heading() const
{
    std::lock_guard<std::mutex> lock(_heading_mutex);
    return _heading;
}

void TelemetryImpl::set_heading(Telemetry::Heading heading)
{
    std::lock_guard<std::mutex> lock(_heading_mutex);
    _heading = heading;
}

Telemetry::Altitude TelemetryImpl::altitude() const
{
    std::lock_guard<std::mutex> lock(_altitude_mutex);
    return _altitude;
}

void TelemetryImpl::set_altitude(Telemetry::Altitude altitude)
{
    std::lock_guard<std::mutex> lock(_altitude_mutex);
    _altitude = altitude;
}

Telemetry::Position TelemetryImpl::home() const
{
    std::lock_guard<std::mutex> lock(_home_position_mutex);
    return _home_position;
}

void TelemetryImpl::set_home_position(Telemetry::Position home_position)
{
    std::lock_guard<std::mutex> lock(_home_position_mutex);
    _home_position = home_position;
}

bool TelemetryImpl::armed() const
{
    return _armed;
}

bool TelemetryImpl::in_air() const
{
    return _in_air;
}

void TelemetryImpl::set_in_air(bool in_air_new)
{
    _in_air = in_air_new;
}

void TelemetryImpl::set_status_text(Telemetry::StatusText status_text)
{
    std::lock_guard<std::mutex> lock(_status_text_mutex);
    _status_text = status_text;
}

Telemetry::StatusText TelemetryImpl::status_text() const
{
    std::lock_guard<std::mutex> lock(_status_text_mutex);
    return _status_text;
}

void TelemetryImpl::set_armed(bool armed_new)
{
    _armed = armed_new;
}

Telemetry::Quaternion TelemetryImpl::attitude_quaternion() const
{
    std::lock_guard<std::mutex> lock(_attitude_quaternion_mutex);
    return _attitude_quaternion;
}

Telemetry::AngularVelocityBody TelemetryImpl::attitude_angular_velocity_body() const
{
    std::lock_guard<std::mutex> lock(_attitude_angular_velocity_body_mutex);
    return _attitude_angular_velocity_body;
}

Telemetry::GroundTruth TelemetryImpl::ground_truth() const
{
    std::lock_guard<std::mutex> lock(_ground_truth_mutex);
    return _ground_truth;
}

Telemetry::FixedwingMetrics TelemetryImpl::fixedwing_metrics() const
{
    std::lock_guard<std::mutex> lock(_fixedwing_metrics_mutex);
    return _fixedwing_metrics;
}

Telemetry::EulerAngle TelemetryImpl::attitude_euler() const
{
    std::lock_guard<std::mutex> lock(_attitude_euler_mutex);
    return _attitude_euler;
}

void TelemetryImpl::set_attitude_quaternion(Telemetry::Quaternion quaternion)
{
    std::lock_guard<std::mutex> lock(_attitude_quaternion_mutex);
    _attitude_quaternion = quaternion;
}

void TelemetryImpl::set_attitude_euler(Telemetry::EulerAngle euler)
{
    std::lock_guard<std::mutex> lock(_attitude_euler_mutex);
    _attitude_euler = euler;
}

void TelemetryImpl::set_attitude_angular_velocity_body(
    Telemetry::AngularVelocityBody angular_velocity_body)
{
    std::lock_guard<std::mutex> lock(_attitude_quaternion_mutex);
    _attitude_angular_velocity_body = angular_velocity_body;
}

void TelemetryImpl::set_ground_truth(Telemetry::GroundTruth ground_truth)
{
    std::lock_guard<std::mutex> lock(_ground_truth_mutex);
    _ground_truth = ground_truth;
}

void TelemetryImpl::set_fixedwing_metrics(Telemetry::FixedwingMetrics fixedwing_metrics)
{
    std::lock_guard<std::mutex> lock(_fixedwing_metrics_mutex);
    _fixedwing_metrics = fixedwing_metrics;
}

Telemetry::Quaternion TelemetryImpl::camera_attitude_quaternion() const
{
    std::lock_guard<std::mutex> lock(_camera_attitude_euler_angle_mutex);

    auto euler_angle = EulerAngle{};
    euler_angle.roll_deg = _camera_attitude_euler_angle.roll_deg;
    euler_angle.pitch_deg = _camera_attitude_euler_angle.pitch_deg;
    euler_angle.yaw_deg = _camera_attitude_euler_angle.yaw_deg;

    auto quaternion = to_quaternion_from_euler_angle(euler_angle);

    auto telemetry_quaternion = Telemetry::Quaternion{};
    telemetry_quaternion.w = quaternion.w;
    telemetry_quaternion.x = quaternion.x;
    telemetry_quaternion.y = quaternion.y;
    telemetry_quaternion.z = quaternion.z;
    telemetry_quaternion.timestamp_us = _camera_attitude_euler_angle.timestamp_us;

    return telemetry_quaternion;
}

Telemetry::EulerAngle TelemetryImpl::camera_attitude_euler() const
{
    std::lock_guard<std::mutex> lock(_camera_attitude_euler_angle_mutex);

    return _camera_attitude_euler_angle;
}

void TelemetryImpl::set_camera_attitude_euler_angle(Telemetry::EulerAngle euler_angle)
{
    std::lock_guard<std::mutex> lock(_camera_attitude_euler_angle_mutex);
    _camera_attitude_euler_angle = euler_angle;
}

Telemetry::VelocityNed TelemetryImpl::velocity_ned() const
{
    std::lock_guard<std::mutex> lock(_velocity_ned_mutex);
    return _velocity_ned;
}

void TelemetryImpl::set_velocity_ned(Telemetry::VelocityNed velocity_ned)
{
    std::lock_guard<std::mutex> lock(_velocity_ned_mutex);
    _velocity_ned = velocity_ned;
}

Telemetry::Imu TelemetryImpl::imu() const
{
    std::lock_guard<std::mutex> lock(_imu_reading_ned_mutex);
    return _imu_reading_ned;
}

void TelemetryImpl::set_imu_reading_ned(Telemetry::Imu imu_reading_ned)
{
    std::lock_guard<std::mutex> lock(_imu_reading_ned_mutex);
    _imu_reading_ned = imu_reading_ned;
}

Telemetry::Imu TelemetryImpl::scaled_imu() const
{
    std::lock_guard<std::mutex> lock(_scaled_imu_mutex);
    return _scaled_imu;
}

void TelemetryImpl::set_scaled_imu(Telemetry::Imu scaled_imu)
{
    std::lock_guard<std::mutex> lock(_scaled_imu_mutex);
    _scaled_imu = scaled_imu;
}

Telemetry::Imu TelemetryImpl::raw_imu() const
{
    std::lock_guard<std::mutex> lock(_raw_imu_mutex);
    return _raw_imu;
}

void TelemetryImpl::set_raw_imu(Telemetry::Imu raw_imu)
{
    std::lock_guard<std::mutex> lock(_raw_imu_mutex);
    _raw_imu = raw_imu;
}

Telemetry::GpsInfo TelemetryImpl::gps_info() const
{
    std::lock_guard<std::mutex> lock(_gps_info_mutex);
    return _gps_info;
}

void TelemetryImpl::set_gps_info(Telemetry::GpsInfo gps_info)
{
    std::lock_guard<std::mutex> lock(_gps_info_mutex);
    _gps_info = gps_info;
}

Telemetry::RawGps TelemetryImpl::raw_gps() const
{
    std::lock_guard<std::mutex> lock(_raw_gps_mutex);
    return _raw_gps;
}

void TelemetryImpl::set_raw_gps(Telemetry::RawGps raw_gps)
{
    std::lock_guard<std::mutex> lock(_raw_gps_mutex);
    _raw_gps = raw_gps;
}

Telemetry::Battery TelemetryImpl::battery() const
{
    std::lock_guard<std::mutex> lock(_battery_mutex);
    return _battery;
}

void TelemetryImpl::set_battery(Telemetry::Battery battery)
{
    std::lock_guard<std::mutex> lock(_battery_mutex);
    _battery = battery;
}

Telemetry::FlightMode TelemetryImpl::flight_mode() const
{
    return telemetry_flight_mode_from_flight_mode(_system_impl->get_flight_mode());
}

Telemetry::Health TelemetryImpl::health() const
{
    std::lock_guard<std::mutex> lock(_health_mutex);
    return _health;
}

bool TelemetryImpl::health_all_ok() const
{
    std::lock_guard<std::mutex> lock(_health_mutex);
    if (_health.is_gyrometer_calibration_ok && _health.is_accelerometer_calibration_ok &&
        _health.is_magnetometer_calibration_ok && _health.is_local_position_ok &&
        _health.is_global_position_ok && _health.is_home_position_ok) {
        return true;
    } else {
        return false;
    }
}

Telemetry::RcStatus TelemetryImpl::rc_status() const
{
    std::lock_guard<std::mutex> lock(_rc_status_mutex);
    return _rc_status;
}

uint64_t TelemetryImpl::unix_epoch_time() const
{
    std::lock_guard<std::mutex> lock(_unix_epoch_time_mutex);
    return _unix_epoch_time_us;
}

Telemetry::ActuatorControlTarget TelemetryImpl::actuator_control_target() const
{
    std::lock_guard<std::mutex> lock(_actuator_control_target_mutex);
    return _actuator_control_target;
}

Telemetry::ActuatorOutputStatus TelemetryImpl::actuator_output_status() const
{
    std::lock_guard<std::mutex> lock(_actuator_output_status_mutex);
    return _actuator_output_status;
}

Telemetry::Odometry TelemetryImpl::odometry() const
{
    std::lock_guard<std::mutex> lock(_odometry_mutex);
    return _odometry;
}

Telemetry::DistanceSensor TelemetryImpl::distance_sensor() const
{
    std::lock_guard<std::mutex> lock(_distance_sensor_mutex);
    return _distance_sensor;
}

Telemetry::ScaledPressure TelemetryImpl::scaled_pressure() const
{
    std::lock_guard<std::mutex> lock(_scaled_pressure_mutex);
    return _scaled_pressure;
}

void TelemetryImpl::set_health_local_position(bool ok)
{
    std::lock_guard<std::mutex> lock(_health_mutex);
    _health.is_local_position_ok = ok;
}

void TelemetryImpl::set_health_global_position(bool ok)
{
    std::lock_guard<std::mutex> lock(_health_mutex);
    _health.is_global_position_ok = ok;
}

void TelemetryImpl::set_health_home_position(bool ok)
{
    std::lock_guard<std::mutex> lock(_health_mutex);
    _health.is_home_position_ok = ok;
}

void TelemetryImpl::set_health_gyrometer_calibration(bool ok)
{
    _has_received_gyro_calibration = true;

    std::lock_guard<std::mutex> lock(_health_mutex);
    _health.is_gyrometer_calibration_ok = (ok || _hitl_enabled);
}

void TelemetryImpl::set_health_accelerometer_calibration(bool ok)
{
    _has_received_accel_calibration = true;

    std::lock_guard<std::mutex> lock(_health_mutex);
    _health.is_accelerometer_calibration_ok = (ok || _hitl_enabled);
}

void TelemetryImpl::set_health_magnetometer_calibration(bool ok)
{
    _has_received_mag_calibration = true;

    std::lock_guard<std::mutex> lock(_health_mutex);
    _health.is_magnetometer_calibration_ok = (ok || _hitl_enabled);
}

void TelemetryImpl::set_health_armable(bool ok)
{
    std::lock_guard<std::mutex> lock(_health_mutex);
    _health.is_armable = ok;
}

Telemetry::VtolState TelemetryImpl::vtol_state() const
{
    std::lock_guard<std::mutex> lock(_vtol_state_mutex);
    return _vtol_state;
}

void TelemetryImpl::set_vtol_state(Telemetry::VtolState vtol_state)
{
    std::lock_guard<std::mutex> lock(_vtol_state_mutex);
    _vtol_state = vtol_state;
}

Telemetry::LandedState TelemetryImpl::landed_state() const
{
    std::lock_guard<std::mutex> lock(_landed_state_mutex);
    return _landed_state;
}

void TelemetryImpl::set_landed_state(Telemetry::LandedState landed_state)
{
    std::lock_guard<std::mutex> lock(_landed_state_mutex);
    _landed_state = landed_state;
}

void TelemetryImpl::set_rc_status(
    std::optional<bool> maybe_available, std::optional<float> maybe_signal_strength_percent)
{
    std::lock_guard<std::mutex> lock(_rc_status_mutex);

    if (maybe_available) {
        _rc_status.is_available = maybe_available.value();
        if (maybe_available.value()) {
            _rc_status.was_available_once = true;
        }
    }

    if (maybe_signal_strength_percent) {
        _rc_status.signal_strength_percent = maybe_signal_strength_percent.value();
    }
}

void TelemetryImpl::set_unix_epoch_time_us(uint64_t time_us)
{
    std::lock_guard<std::mutex> lock(_unix_epoch_time_mutex);
    _unix_epoch_time_us = time_us;
}

void TelemetryImpl::set_actuator_control_target(uint8_t group, const std::vector<float>& controls)
{
    std::lock_guard<std::mutex> lock(_actuator_control_target_mutex);
    _actuator_control_target.group = group;
    _actuator_control_target.controls = controls;
}

void TelemetryImpl::set_actuator_output_status(uint32_t active, const std::vector<float>& actuators)
{
    std::lock_guard<std::mutex> lock(_actuator_output_status_mutex);
    _actuator_output_status.active = active;
    _actuator_output_status.actuator = actuators;
}

void TelemetryImpl::set_odometry(Telemetry::Odometry& odometry)
{
    std::lock_guard<std::mutex> lock(_odometry_mutex);
    _odometry = odometry;
}

void TelemetryImpl::set_distance_sensor(Telemetry::DistanceSensor& distance_sensor)
{
    std::lock_guard<std::mutex> lock(_distance_sensor_mutex);
    _distance_sensor = distance_sensor;
}

void TelemetryImpl::set_scaled_pressure(Telemetry::ScaledPressure& scaled_pressure)
{
    std::lock_guard<std::mutex> lock(_scaled_pressure_mutex);
    _scaled_pressure = scaled_pressure;
}

Telemetry::PositionVelocityNedHandle TelemetryImpl::subscribe_position_velocity_ned(
    const Telemetry::PositionVelocityNedCallback& callback)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    return _position_velocity_ned_subscriptions.subscribe(callback);
}

void TelemetryImpl::unsubscribe_position_velocity_ned(Telemetry::PositionVelocityNedHandle handle)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _position_velocity_ned_subscriptions.unsubscribe(handle);
}

Telemetry::PositionHandle
TelemetryImpl::subscribe_position(const Telemetry::PositionCallback& callback)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    return _position_subscriptions.subscribe(callback);
}

void TelemetryImpl::unsubscribe_position(Telemetry::PositionHandle handle)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _position_subscriptions.unsubscribe(handle);
}

Telemetry::HomeHandle TelemetryImpl::subscribe_home(const Telemetry::PositionCallback& callback)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    return _home_position_subscriptions.subscribe(callback);
}

void TelemetryImpl::unsubscribe_home(Telemetry::HomeHandle handle)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _home_position_subscriptions.unsubscribe(handle);
}

Telemetry::InAirHandle TelemetryImpl::subscribe_in_air(const Telemetry::InAirCallback& callback)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    return _in_air_subscriptions.subscribe(callback);
}

void TelemetryImpl::unsubscribe_in_air(Telemetry::InAirHandle handle)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    return _in_air_subscriptions.unsubscribe(handle);
}

Telemetry::StatusTextHandle
TelemetryImpl::subscribe_status_text(const Telemetry::StatusTextCallback& callback)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    return _status_text_subscriptions.subscribe(callback);
}

void TelemetryImpl::unsubscribe_status_text(Handle<Telemetry::StatusText> handle)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _status_text_subscriptions.unsubscribe(handle);
}

Telemetry::ArmedHandle TelemetryImpl::subscribe_armed(const Telemetry::ArmedCallback& callback)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    return _armed_subscriptions.subscribe(callback);
}

void TelemetryImpl::unsubscribe_armed(Telemetry::ArmedHandle handle)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _armed_subscriptions.unsubscribe(handle);
}

Telemetry::AttitudeQuaternionHandle
TelemetryImpl::subscribe_attitude_quaternion(const Telemetry::AttitudeQuaternionCallback& callback)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    return _attitude_quaternion_angle_subscriptions.subscribe(callback);
}

void TelemetryImpl::unsubscribe_attitude_quaternion(Telemetry::AttitudeQuaternionHandle handle)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _attitude_quaternion_angle_subscriptions.unsubscribe(handle);
}

Telemetry::AttitudeEulerHandle
TelemetryImpl::subscribe_attitude_euler(const Telemetry::AttitudeEulerCallback& callback)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    return _attitude_euler_angle_subscriptions.subscribe(callback);
}

void TelemetryImpl::unsubscribe_attitude_euler(Telemetry::AttitudeEulerHandle handle)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _attitude_euler_angle_subscriptions.unsubscribe(handle);
}

Telemetry::AttitudeAngularVelocityBodyHandle
TelemetryImpl::subscribe_attitude_angular_velocity_body(
    const Telemetry::AttitudeAngularVelocityBodyCallback& callback)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    return _attitude_angular_velocity_body_subscriptions.subscribe(callback);
}

void TelemetryImpl::unsubscribe_attitude_angular_velocity_body(
    Telemetry::AttitudeAngularVelocityBodyHandle handle)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _attitude_angular_velocity_body_subscriptions.unsubscribe(handle);
}

Telemetry::FixedwingMetricsHandle
TelemetryImpl::subscribe_fixedwing_metrics(const Telemetry::FixedwingMetricsCallback& callback)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    return _fixedwing_metrics_subscriptions.subscribe(callback);
}

void TelemetryImpl::unsubscribe_fixedwing_metrics(Telemetry::FixedwingMetricsHandle handle)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _fixedwing_metrics_subscriptions.unsubscribe(handle);
}

Telemetry::GroundTruthHandle
TelemetryImpl::subscribe_ground_truth(const Telemetry::GroundTruthCallback& callback)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    return _ground_truth_subscriptions.subscribe(callback);
}

void TelemetryImpl::unsubscribe_ground_truth(Telemetry::GroundTruthHandle handle)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _ground_truth_subscriptions.unsubscribe(handle);
}

Telemetry::AttitudeQuaternionHandle TelemetryImpl::subscribe_camera_attitude_quaternion(
    const Telemetry::AttitudeQuaternionCallback& callback)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    return _camera_attitude_quaternion_subscriptions.subscribe(callback);
}

void TelemetryImpl::unsubscribe_camera_attitude_quaternion(
    Telemetry::AttitudeQuaternionHandle handle)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _camera_attitude_quaternion_subscriptions.unsubscribe(handle);
}

Telemetry::AttitudeEulerHandle
TelemetryImpl::subscribe_camera_attitude_euler(const Telemetry::AttitudeEulerCallback& callback)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    return _camera_attitude_euler_angle_subscriptions.subscribe(callback);
}

void TelemetryImpl::unsubscribe_camera_attitude_euler(Telemetry::AttitudeEulerHandle handle)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _camera_attitude_euler_angle_subscriptions.unsubscribe(handle);
}

Telemetry::VelocityNedHandle
TelemetryImpl::subscribe_velocity_ned(const Telemetry::VelocityNedCallback& callback)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    return _velocity_ned_subscriptions.subscribe(callback);
}

void TelemetryImpl::unsubscribe_velocity_ned(Telemetry::VelocityNedHandle handle)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _velocity_ned_subscriptions.unsubscribe(handle);
}

Telemetry::ImuHandle TelemetryImpl::subscribe_imu(const Telemetry::ImuCallback& callback)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    return _imu_reading_ned_subscriptions.subscribe(callback);
}

void TelemetryImpl::unsubscribe_imu(Telemetry::ImuHandle handle)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    return _imu_reading_ned_subscriptions.unsubscribe(handle);
}

Telemetry::ScaledImuHandle
TelemetryImpl::subscribe_scaled_imu(const Telemetry::ScaledImuCallback& callback)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    return _scaled_imu_subscriptions.subscribe(callback);
}

void TelemetryImpl::unsubscribe_scaled_imu(Telemetry::ScaledImuHandle handle)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _scaled_imu_subscriptions.unsubscribe(handle);
}

Telemetry::RawImuHandle TelemetryImpl::subscribe_raw_imu(const Telemetry::RawImuCallback& callback)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    return _raw_imu_subscriptions.subscribe(callback);
}

void TelemetryImpl::unsubscribe_raw_imu(Telemetry::RawImuHandle handle)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _raw_imu_subscriptions.unsubscribe(handle);
}

Telemetry::GpsInfoHandle
TelemetryImpl::subscribe_gps_info(const Telemetry::GpsInfoCallback& callback)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    return _gps_info_subscriptions.subscribe(callback);
}

void TelemetryImpl::unsubscribe_gps_info(Telemetry::GpsInfoHandle handle)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _gps_info_subscriptions.unsubscribe(handle);
}

Telemetry::RawGpsHandle TelemetryImpl::subscribe_raw_gps(const Telemetry::RawGpsCallback& callback)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    return _raw_gps_subscriptions.subscribe(callback);
}

void TelemetryImpl::unsubscribe_raw_gps(Telemetry::RawGpsHandle handle)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _raw_gps_subscriptions.unsubscribe(handle);
}

Telemetry::BatteryHandle
TelemetryImpl::subscribe_battery(const Telemetry::BatteryCallback& callback)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    return _battery_subscriptions.subscribe(callback);
}

void TelemetryImpl::unsubscribe_battery(Telemetry::BatteryHandle handle)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _battery_subscriptions.unsubscribe(handle);
}

Telemetry::FlightModeHandle
TelemetryImpl::subscribe_flight_mode(const Telemetry::FlightModeCallback& callback)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    return _flight_mode_subscriptions.subscribe(callback);
}

void TelemetryImpl::unsubscribe_flight_mode(Telemetry::FlightModeHandle handle)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _flight_mode_subscriptions.unsubscribe(handle);
}

Telemetry::HealthHandle TelemetryImpl::subscribe_health(const Telemetry::HealthCallback& callback)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    return _health_subscriptions.subscribe(callback);
}

void TelemetryImpl::unsubscribe_health(Telemetry::HealthHandle handle)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _health_subscriptions.unsubscribe(handle);
}

Telemetry::HealthAllOkHandle
TelemetryImpl::subscribe_health_all_ok(const Telemetry::HealthAllOkCallback& callback)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    return _health_all_ok_subscriptions.subscribe(callback);
}

void TelemetryImpl::unsubscribe_health_all_ok(Telemetry::HealthAllOkHandle handle)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _health_all_ok_subscriptions.unsubscribe(handle);
}

Telemetry::VtolStateHandle
TelemetryImpl::subscribe_vtol_state(const Telemetry::VtolStateCallback& callback)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    return _vtol_state_subscriptions.subscribe(callback);
}

void TelemetryImpl::unsubscribe_vtol_state(Telemetry::VtolStateHandle handle)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _vtol_state_subscriptions.unsubscribe(handle);
}

Telemetry::LandedStateHandle
TelemetryImpl::subscribe_landed_state(const Telemetry::LandedStateCallback& callback)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    return _landed_state_subscriptions.subscribe(callback);
}

void TelemetryImpl::unsubscribe_landed_state(Telemetry::LandedStateHandle handle)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _landed_state_subscriptions.unsubscribe(handle);
}

Telemetry::RcStatusHandle
TelemetryImpl::subscribe_rc_status(const Telemetry::RcStatusCallback& callback)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    return _rc_status_subscriptions.subscribe(callback);
}

void TelemetryImpl::unsubscribe_rc_status(Telemetry::RcStatusHandle handle)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _rc_status_subscriptions.unsubscribe(handle);
}

Telemetry::UnixEpochTimeHandle
TelemetryImpl::subscribe_unix_epoch_time(const Telemetry::UnixEpochTimeCallback& callback)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    return _unix_epoch_time_subscriptions.subscribe(callback);
}

void TelemetryImpl::unsubscribe_unix_epoch_time(Telemetry::UnixEpochTimeHandle handle)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _unix_epoch_time_subscriptions.unsubscribe(handle);
}

Telemetry::ActuatorControlTargetHandle TelemetryImpl::subscribe_actuator_control_target(
    const Telemetry::ActuatorControlTargetCallback& callback)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    return _actuator_control_target_subscriptions.subscribe(callback);
}

void TelemetryImpl::unsubscribe_actuator_control_target(
    Telemetry::ActuatorControlTargetHandle handle)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _actuator_control_target_subscriptions.unsubscribe(handle);
}

Telemetry::ActuatorOutputStatusHandle TelemetryImpl::subscribe_actuator_output_status(
    const Telemetry::ActuatorOutputStatusCallback& callback)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    return _actuator_output_status_subscriptions.subscribe(callback);
}

void TelemetryImpl::unsubscribe_actuator_output_status(Telemetry::ActuatorOutputStatusHandle handle)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _actuator_output_status_subscriptions.unsubscribe(handle);
}

Telemetry::OdometryHandle
TelemetryImpl::subscribe_odometry(const Telemetry::OdometryCallback& callback)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    return _odometry_subscriptions.subscribe(callback);
}

void TelemetryImpl::unsubscribe_odometry(Telemetry::OdometryHandle handle)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _odometry_subscriptions.unsubscribe(handle);
}

Telemetry::DistanceSensorHandle
TelemetryImpl::subscribe_distance_sensor(const Telemetry::DistanceSensorCallback& callback)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    return _distance_sensor_subscriptions.subscribe(callback);
}

void TelemetryImpl::unsubscribe_distance_sensor(Telemetry::DistanceSensorHandle handle)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _distance_sensor_subscriptions.unsubscribe(handle);
}

Telemetry::ScaledPressureHandle
TelemetryImpl::subscribe_scaled_pressure(const Telemetry::ScaledPressureCallback& callback)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    return _scaled_pressure_subscriptions.subscribe(callback);
}

void TelemetryImpl::unsubscribe_scaled_pressure(Telemetry::ScaledPressureHandle handle)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _scaled_pressure_subscriptions.unsubscribe(handle);
}

Telemetry::HeadingHandle
TelemetryImpl::subscribe_heading(const Telemetry::HeadingCallback& callback)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    return _heading_subscriptions.subscribe(callback);
}

void TelemetryImpl::unsubscribe_heading(Telemetry::HeadingHandle handle)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _heading_subscriptions.unsubscribe(handle);
}

Telemetry::AltitudeHandle
TelemetryImpl::subscribe_altitude(const Telemetry::AltitudeCallback& callback)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    return _altitude_subscriptions.subscribe(callback);
}

void TelemetryImpl::unsubscribe_altitude(Telemetry::AltitudeHandle handle)
{
    std::lock_guard<std::mutex> lock(_subscription_mutex);
    _altitude_subscriptions.unsubscribe(handle);
}

void TelemetryImpl::request_home_position_async()
{
    MavlinkCommandSender::CommandLong command_request_message{};
    command_request_message.command = MAV_CMD_REQUEST_MESSAGE;
    command_request_message.target_component_id = MAV_COMP_ID_AUTOPILOT1;
    command_request_message.params.maybe_param1 = static_cast<float>(MAVLINK_MSG_ID_HOME_POSITION);
    _system_impl->send_command_async(command_request_message, nullptr);
}

void TelemetryImpl::get_gps_global_origin_async(
    const Telemetry::GetGpsGlobalOriginCallback callback)
{
    _system_impl->request_message().request(
        MAVLINK_MSG_ID_GPS_GLOBAL_ORIGIN,
        MAV_COMP_ID_AUTOPILOT1,
        [this, callback](MavlinkCommandSender::Result result, const mavlink_message_t& message) {
            if (result == MavlinkCommandSender::Result::Success) {
                mavlink_gps_global_origin_t mavlink_gps_global_origin;
                mavlink_msg_gps_global_origin_decode(&message, &mavlink_gps_global_origin);

                Telemetry::GpsGlobalOrigin gps_global_origin;
                gps_global_origin.latitude_deg = mavlink_gps_global_origin.latitude * 1e-7;
                gps_global_origin.longitude_deg = mavlink_gps_global_origin.longitude * 1e-7;
                gps_global_origin.altitude_m = mavlink_gps_global_origin.altitude * 1e-3f;
                _system_impl->call_user_callback([callback, gps_global_origin]() {
                    callback(Telemetry::Result::Success, gps_global_origin);
                });

            } else {
                _system_impl->call_user_callback([callback, result]() {
                    callback(telemetry_result_from_command_result(result), {});
                });
            }
        });
}

std::pair<Telemetry::Result, Telemetry::GpsGlobalOrigin> TelemetryImpl::get_gps_global_origin()
{
    auto prom = std::promise<std::pair<Telemetry::Result, Telemetry::GpsGlobalOrigin>>();
    auto fut = prom.get_future();

    get_gps_global_origin_async(
        [&prom](Telemetry::Result result, Telemetry::GpsGlobalOrigin gps_global_origin) {
            prom.set_value(std::make_pair(result, gps_global_origin));
        });
    return fut.get();
}

void TelemetryImpl::check_calibration()
{
    {
        std::lock_guard<std::mutex> lock(_health_mutex);
        if ((_has_received_gyro_calibration && _has_received_accel_calibration &&
             _has_received_mag_calibration) ||
            _hitl_enabled) {
            _system_impl->remove_call_every(_calibration_cookie);
            return;
        }
    }
    if (_system_impl->has_autopilot()) {
        if (_system_impl->autopilot() == Autopilot::ArduPilot) {
            // We need to ask for the home position from ArduPilot
            request_home_position_async();

            // ArduPilot calibration sets the offsets,
            // if any offset is 0 the calibration is not complete/unhealthy.
            _system_impl->get_param_float_async(
                std::string("INS_GYROFFS_X"),
                [this](MavlinkParameterClient::Result result, float value) {
                    receive_param_cal_gyro_offset_x(result, value);
                },
                this);

            _system_impl->get_param_float_async(
                std::string("INS_GYROFFS_Y"),
                [this](MavlinkParameterClient::Result result, float value) {
                    receive_param_cal_gyro_offset_y(result, value);
                },
                this);

            _system_impl->get_param_float_async(
                std::string("INS_GYROFFS_Z"),
                [this](MavlinkParameterClient::Result result, float value) {
                    receive_param_cal_gyro_offset_z(result, value);
                },
                this);

            _system_impl->get_param_float_async(
                std::string("INS_ACCOFFS_X"),
                [this](MavlinkParameterClient::Result result, float value) {
                    receive_param_cal_accel_offset_x(result, value);
                },
                this);

            _system_impl->get_param_float_async(
                std::string("INS_ACCOFFS_Y"),
                [this](MavlinkParameterClient::Result result, float value) {
                    receive_param_cal_accel_offset_y(result, value);
                },
                this);

            _system_impl->get_param_float_async(
                std::string("INS_ACCOFFS_Z"),
                [this](MavlinkParameterClient::Result result, float value) {
                    receive_param_cal_accel_offset_z(result, value);
                },
                this);

            _system_impl->get_param_float_async(
                std::string("COMPASS_OFS_X"),
                [this](MavlinkParameterClient::Result result, float value) {
                    receive_param_cal_mag_offset_x(result, value);
                },
                this);

            _system_impl->get_param_float_async(
                std::string("COMPASS_OFS_Y"),
                [this](MavlinkParameterClient::Result result, float value) {
                    receive_param_cal_mag_offset_y(result, value);
                },
                this);

            _system_impl->get_param_float_async(
                std::string("COMPASS_OFS_Z"),
                [this](MavlinkParameterClient::Result result, float value) {
                    receive_param_cal_mag_offset_z(result, value);
                },
                this);

        } else {
            _system_impl->get_param_int_async(
                std::string("CAL_GYRO0_ID"),
                [this](MavlinkParameterClient::Result result, int32_t value) {
                    receive_param_cal_gyro(result, value);
                },
                this);

            _system_impl->get_param_int_async(
                std::string("CAL_ACC0_ID"),
                [this](MavlinkParameterClient::Result result, int32_t value) {
                    receive_param_cal_accel(result, value);
                },
                this);

            _system_impl->get_param_int_async(
                std::string("CAL_MAG0_ID"),
                [this](MavlinkParameterClient::Result result, int32_t value) {
                    receive_param_cal_mag(result, value);
                },
                this);

            _system_impl->get_param_int_async(
                std::string("SYS_HITL"),
                [this](MavlinkParameterClient::Result result, int32_t value) {
                    receive_param_hitl(result, value);
                },
                this);
        }
    }
}

void TelemetryImpl::process_parameter_update(const std::string& name)
{
    if (_system_impl->autopilot() == Autopilot::ArduPilot) {
        if (name.compare("INS_GYROFFS_X") == 0) {
            _system_impl->get_param_float_async(
                std::string("INS_GYROFFS_X"),
                [this](MavlinkParameterClient::Result result, float value) {
                    receive_param_cal_gyro_offset_x(result, value);
                },
                this);
        } else if (name.compare("INS_GYROFFS_Y") == 0) {
            _system_impl->get_param_float_async(
                std::string("INS_GYROFFS_Y"),
                [this](MavlinkParameterClient::Result result, float value) {
                    receive_param_cal_gyro_offset_y(result, value);
                },
                this);
        } else if (name.compare("INS_GYROFFS_Z") == 0) {
            _system_impl->get_param_float_async(
                std::string("INS_GYROFFS_Z"),
                [this](MavlinkParameterClient::Result result, float value) {
                    receive_param_cal_gyro_offset_z(result, value);
                },
                this);
        } else if (name.compare("INS_ACCOFFS_X") == 0) {
            _system_impl->get_param_float_async(
                std::string("INS_ACCOFFS_X"),
                [this](MavlinkParameterClient::Result result, float value) {
                    receive_param_cal_accel_offset_x(result, value);
                },
                this);
        } else if (name.compare("INS_ACCOFFS_Y") == 0) {
            _system_impl->get_param_float_async(
                std::string("INS_ACCOFFS_Y"),
                [this](MavlinkParameterClient::Result result, float value) {
                    receive_param_cal_accel_offset_y(result, value);
                },
                this);
        } else if (name.compare("INS_ACCOFFS_Z") == 0) {
            _system_impl->get_param_float_async(
                std::string("INS_ACCOFFS_Z"),
                [this](MavlinkParameterClient::Result result, float value) {
                    receive_param_cal_accel_offset_z(result, value);
                },
                this);
        } else if (name.compare("COMPASS_OFS_X") == 0) {
            _system_impl->get_param_float_async(
                std::string("COMPASS_OFS_X"),
                [this](MavlinkParameterClient::Result result, float value) {
                    receive_param_cal_mag_offset_x(result, value);
                },
                this);
        } else if (name.compare("COMPASS_OFS_Y") == 0) {
            _system_impl->get_param_float_async(
                std::string("COMPASS_OFS_Y"),
                [this](MavlinkParameterClient::Result result, float value) {
                    receive_param_cal_mag_offset_y(result, value);
                },
                this);
        } else if (name.compare("COMPASS_OFS_Z") == 0) {
            _system_impl->get_param_float_async(
                std::string("COMPASS_OFS_Z"),
                [this](MavlinkParameterClient::Result result, float value) {
                    receive_param_cal_mag_offset_z(result, value);
                },
                this);
        }
    } else {
        if (name.compare("CAL_GYRO0_ID") == 0) {
            _system_impl->get_param_int_async(
                std::string("CAL_GYRO0_ID"),
                [this](MavlinkParameterClient::Result result, int32_t value) {
                    receive_param_cal_gyro(result, value);
                },
                this);

        } else if (name.compare("CAL_ACC0_ID") == 0) {
            _system_impl->get_param_int_async(
                std::string("CAL_ACC0_ID"),
                [this](MavlinkParameterClient::Result result, int32_t value) {
                    receive_param_cal_accel(result, value);
                },
                this);
        } else if (name.compare("CAL_MAG0_ID") == 0) {
            _system_impl->get_param_int_async(
                std::string("CAL_MAG0_ID"),
                [this](MavlinkParameterClient::Result result, int32_t value) {
                    receive_param_cal_mag(result, value);
                },
                this);

        } else if (name.compare("SYS_HITL") == 0) {
            _system_impl->get_param_int_async(
                std::string("SYS_HITL"),
                [this](MavlinkParameterClient::Result result, int32_t value) {
                    receive_param_hitl(result, value);
                },
                this);
        }
    }
}

} // namespace mavsdk

mavlink / MAVSDK / 8258243043

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