/****************************************************************************
 *
 *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
 *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
 * are met:
 *
 * 1. Redistributions of source code must retain the above copyright
 *    notice, this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in
 *    the documentation and/or other materials provided with the
 *    distribution.
 * 3. Neither the name PX4 nor the names of its contributors may be
 *    used to endorse or promote products derived from this software
 *    without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
 * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
 * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/

/**
 * @file mavlink.c
 * MAVLink 1.0 protocol implementation.
 */

#include <nuttx/config.h>
#include <unistd.h>
#include <pthread.h>
#include <stdio.h>
#include <math.h>
#include <stdbool.h>
#include <fcntl.h>
#include <mqueue.h>
#include <string.h>
#include "mavlink_bridge_header.h"
#include <v1.0/common/mavlink.h>
#include <arch/board/up_hrt.h>
#include <time.h>
#include <float.h>
#include <unistd.h>
#include <nuttx/sched.h>
#include <sys/prctl.h>
#include <termios.h>
#include <errno.h>
#include <stdlib.h>
#include <poll.h>

#include <systemlib/param/param.h>
#include <systemlib/systemlib.h>

#include "waypoints.h"
#include "mavlink_log.h"
#include "orb_topics.h"
#include "missionlib.h"
#include "mavlink_hil.h"
#include "util.h"
#include "waypoints.h"
#include "mavlink_parameters.h"

/* define MAVLink specific parameters */
PARAM_DEFINE_INT32(MAV_SYS_ID, 1);
PARAM_DEFINE_INT32(MAV_COMP_ID, 50);
PARAM_DEFINE_INT32(MAV_TYPE, MAV_TYPE_QUADROTOR);

__EXPORT int mavlink_main(int argc, char *argv[]);

static int mavlink_thread_main(int argc, char *argv[]);

/* thread state */
volatile bool thread_should_exit = false;
static volatile bool thread_running = false;
static int mavlink_task;

/* pthreads */
static pthread_t receive_thread;
static pthread_t uorb_receive_thread;

/* terminate MAVLink on user request - disabled by default */
static bool mavlink_link_termination_allowed = false;

mavlink_system_t mavlink_system = {
	100,
	50,
	MAV_TYPE_QUADROTOR,
	0,
	0,
	0
}; // System ID, 1-255, Component/Subsystem ID, 1-255

/* XXX not widely used */
uint8_t chan = MAVLINK_COMM_0;

/* XXX probably should be in a header... */
extern pthread_t receive_start(int uart);

/* Allocate storage space for waypoints */
static mavlink_wpm_storage wpm_s;
mavlink_wpm_storage *wpm = &wpm_s;

bool mavlink_hil_enabled = false;

/* buffer for message strings */
static char mavlink_message_string[51] = {0};

/* protocol interface */
static int uart;
static int baudrate = 57600;

/* interface mode */
static enum {
	MAVLINK_INTERFACE_MODE_OFFBOARD,
	MAVLINK_INTERFACE_MODE_ONBOARD
} mavlink_link_mode = MAVLINK_INTERFACE_MODE_OFFBOARD;

static void mavlink_update_system(void);
static int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb);


/**
 * Print the usage
 */
static void usage(const char *reason);



int
set_hil_on_off(bool hil_enabled)
{
	int ret = OK;

	/* Enable HIL */
	if (hil_enabled && !mavlink_hil_enabled) {

		//printf("\n HIL ON \n");

		/* Advertise topics */
		pub_hil_attitude = orb_advertise(ORB_ID(vehicle_attitude), &hil_attitude);
		pub_hil_global_pos = orb_advertise(ORB_ID(vehicle_global_position), &hil_global_pos);

		printf("\n pub_hil_attitude :%i\n", pub_hil_attitude);
		printf("\n pub_hil_global_pos :%i\n", pub_hil_global_pos);

		mavlink_hil_enabled = true;

		/* ramp up some HIL-related subscriptions */
		unsigned hil_rate_interval;

		if (baudrate < 19200) {
			/* 10 Hz */
			hil_rate_interval = 100;
		} else if (baudrate < 38400) {
			/* 10 Hz */
			hil_rate_interval = 100;
		} else if (baudrate < 115200) {
			/* 20 Hz */
			hil_rate_interval = 50;
		} else if (baudrate < 460800) {
			/* 50 Hz */
			hil_rate_interval = 20;
		} else {
			/* 100 Hz */
			hil_rate_interval = 10;
		}

		orb_set_interval(mavlink_subs.spa_sub, hil_rate_interval);
	}

	if (!hil_enabled && mavlink_hil_enabled) {
		mavlink_hil_enabled = false;
		orb_set_interval(mavlink_subs.spa_sub, 200);

	} else {
		ret = ERROR;
	}

	return ret;
}

void
get_mavlink_mode_and_state(uint8_t *mavlink_state, uint8_t *mavlink_mode)
{
	/* reset MAVLink mode bitfield */
	*mavlink_mode = 0;

	/* set mode flags independent of system state */
	if (v_status.flag_control_manual_enabled) {
		*mavlink_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
	}

	if (v_status.flag_hil_enabled) {
		*mavlink_mode |= MAV_MODE_FLAG_HIL_ENABLED;
	}

	/* set arming state */
	if (armed.armed) {
		*mavlink_mode |= MAV_MODE_FLAG_SAFETY_ARMED;
	} else {
		*mavlink_mode &= ~MAV_MODE_FLAG_SAFETY_ARMED;
	}

	switch (v_status.state_machine) {
	case SYSTEM_STATE_PREFLIGHT:
		if (v_status.flag_preflight_gyro_calibration ||
		    v_status.flag_preflight_mag_calibration ||
		    v_status.flag_preflight_accel_calibration) {
			*mavlink_state = MAV_STATE_CALIBRATING;
		} else {
			*mavlink_state = MAV_STATE_UNINIT;
		}
		break;

	case SYSTEM_STATE_STANDBY:
		*mavlink_state = MAV_STATE_STANDBY;
		break;

	case SYSTEM_STATE_GROUND_READY:
		*mavlink_state = MAV_STATE_ACTIVE;
		break;

	case SYSTEM_STATE_MANUAL:
		*mavlink_state = MAV_STATE_ACTIVE;
		*mavlink_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;
		break;

	case SYSTEM_STATE_STABILIZED:
		*mavlink_state = MAV_STATE_ACTIVE;
		*mavlink_mode |= MAV_MODE_FLAG_STABILIZE_ENABLED;
		break;

	case SYSTEM_STATE_AUTO:
		*mavlink_state = MAV_STATE_ACTIVE;
		*mavlink_mode |= MAV_MODE_FLAG_GUIDED_ENABLED;
		break;

	case SYSTEM_STATE_MISSION_ABORT:
		*mavlink_state = MAV_STATE_EMERGENCY;
		break;

	case SYSTEM_STATE_EMCY_LANDING:
		*mavlink_state = MAV_STATE_EMERGENCY;
		break;

	case SYSTEM_STATE_EMCY_CUTOFF:
		*mavlink_state = MAV_STATE_EMERGENCY;
		break;

	case SYSTEM_STATE_GROUND_ERROR:
		*mavlink_state = MAV_STATE_EMERGENCY;
		break;

	case SYSTEM_STATE_REBOOT:
		*mavlink_state = MAV_STATE_POWEROFF;
		break;
	}

}


static int set_mavlink_interval_limit(struct mavlink_subscriptions *subs, int mavlink_msg_id, int min_interval)
{
	int ret = OK;

	switch (mavlink_msg_id) {
		case MAVLINK_MSG_ID_SCALED_IMU:
			/* sensor sub triggers scaled IMU */
			orb_set_interval(subs->sensor_sub, min_interval);
			break;
		case MAVLINK_MSG_ID_HIGHRES_IMU:
			/* sensor sub triggers highres IMU */
			orb_set_interval(subs->sensor_sub, min_interval);
			break;
		case MAVLINK_MSG_ID_RAW_IMU:
			/* sensor sub triggers RAW IMU */
			orb_set_interval(subs->sensor_sub, min_interval);
			break;
		case MAVLINK_MSG_ID_ATTITUDE:
			/* attitude sub triggers attitude */
			orb_set_interval(subs->att_sub, min_interval);
			break;
		case MAVLINK_MSG_ID_SERVO_OUTPUT_RAW:
			/* actuator_outputs triggers this message */
			orb_set_interval(subs->act_0_sub, min_interval);
			orb_set_interval(subs->act_1_sub, min_interval);
			orb_set_interval(subs->act_2_sub, min_interval);
			orb_set_interval(subs->act_3_sub, min_interval);
			orb_set_interval(subs->actuators_sub, min_interval);
			break;
		case MAVLINK_MSG_ID_MANUAL_CONTROL:
			/* manual_control_setpoint triggers this message */
			orb_set_interval(subs->man_control_sp_sub, min_interval);
			break;
		case MAVLINK_MSG_ID_NAMED_VALUE_FLOAT:
			orb_set_interval(subs->debug_key_value, min_interval);
			break;
		default:
			/* not found */
			ret = ERROR;
			break;
	}

	return ret;
}


/****************************************************************************
 * MAVLink text message logger
 ****************************************************************************/

static int	mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg);

static const struct file_operations mavlink_fops = {
	.ioctl = mavlink_dev_ioctl
};

static int
mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg)
{
	static unsigned int total_counter = 0;

	switch (cmd) {
	case (int)MAVLINK_IOC_SEND_TEXT_INFO:
	case (int)MAVLINK_IOC_SEND_TEXT_CRITICAL:
	case (int)MAVLINK_IOC_SEND_TEXT_EMERGENCY: {
			const char *txt = (const char *)arg;
			strncpy(mavlink_message_string, txt, 51);
			total_counter++;
			return OK;
		}

	default:
		return ENOTTY;
	}
}

#define MAVLINK_OFFBOARD_CONTROL_FLAG_ARMED 0x10

/****************************************************************************
 * Public Functions
 ****************************************************************************/

int mavlink_open_uart(int baud, const char *uart_name, struct termios *uart_config_original, bool *is_usb)
{
	/* process baud rate */
	int speed;

	switch (baud) {
	case 0:      speed = B0;      break;

	case 50:     speed = B50;     break;

	case 75:     speed = B75;     break;

	case 110:    speed = B110;    break;

	case 134:    speed = B134;    break;

	case 150:    speed = B150;    break;

	case 200:    speed = B200;    break;

	case 300:    speed = B300;    break;

	case 600:    speed = B600;    break;

	case 1200:   speed = B1200;   break;

	case 1800:   speed = B1800;   break;

	case 2400:   speed = B2400;   break;

	case 4800:   speed = B4800;   break;

	case 9600:   speed = B9600;   break;

	case 19200:  speed = B19200;  break;

	case 38400:  speed = B38400;  break;

	case 57600:  speed = B57600;  break;

	case 115200: speed = B115200; break;

	case 230400: speed = B230400; break;

	case 460800: speed = B460800; break;

	case 921600: speed = B921600; break;

	default:
		fprintf(stderr, "[mavlink] ERROR: Unsupported baudrate: %d\n\tsupported examples:\n\n\t9600\n19200\n38400\n57600\n115200\n230400\n460800\n921600\n\n", baud);
		return -EINVAL;
	}

	/* open uart */
	printf("[mavlink] UART is %s, baudrate is %d\n", uart_name, baud);
	uart = open(uart_name, O_RDWR | O_NOCTTY);

	/* Try to set baud rate */
	struct termios uart_config;
	int termios_state;
	*is_usb = false;

	if (strcmp(uart_name, "/dev/ttyACM0") != OK) {
		/* Back up the original uart configuration to restore it after exit */
		if ((termios_state = tcgetattr(uart, uart_config_original)) < 0) {
			fprintf(stderr, "[mavlink] ERROR getting baudrate / termios config for %s: %d\n", uart_name, termios_state);
			close(uart);
			return -1;
		}

		/* Fill the struct for the new configuration */
		tcgetattr(uart, &uart_config);

		/* Clear ONLCR flag (which appends a CR for every LF) */
		uart_config.c_oflag &= ~ONLCR;

		/* Set baud rate */
		if (cfsetispeed(&uart_config, speed) < 0 || cfsetospeed(&uart_config, speed) < 0) {
			fprintf(stderr, "[mavlink] ERROR setting baudrate / termios config for %s: %d (cfsetispeed, cfsetospeed)\n", uart_name, termios_state);
			close(uart);
			return -1;
		}


		if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config)) < 0) {
			fprintf(stderr, "[mavlink] ERROR setting baudrate / termios config for %s (tcsetattr)\n", uart_name);
			close(uart);
			return -1;
		}

	} else {
		*is_usb = true;
	}

	return uart;
}

void 
mavlink_send_uart_bytes(mavlink_channel_t channel, uint8_t *ch, int length)
{
	write(uart, ch, (size_t)(sizeof(uint8_t) * length));
}

void mavlink_update_system(void)
{
	static bool initialized = false;
	param_t param_system_id;
	param_t param_component_id;
	param_t param_system_type;

	if (!initialized) {
		param_system_id = param_find("MAV_SYS_ID");
		param_component_id = param_find("MAV_COMP_ID");
		param_system_type = param_find("MAV_TYPE");
	}

	/* update system and component id */
	int32_t system_id;
	param_get(param_system_id, &system_id);
	if (system_id > 0 && system_id < 255) {
		mavlink_system.sysid = system_id;
	}

	int32_t component_id;
	param_get(param_component_id, &component_id);
	if (component_id > 0 && component_id < 255) {
		mavlink_system.compid = component_id;
	}
	
	int32_t system_type;
	param_get(param_system_type, &system_type);
	if (system_type >= 0 && system_type < MAV_TYPE_ENUM_END) {
		mavlink_system.type = system_type;
	}
}

/**
 * MAVLink Protocol main function.
 */
int mavlink_thread_main(int argc, char *argv[])
{
	/* print welcome text */
	printf("[mavlink] MAVLink v1.0 serial interface starting..\n");

	/* create the device node that's used for sending text log messages, etc. */
	register_driver(MAVLINK_LOG_DEVICE, &mavlink_fops, 0666, NULL);

	/* default values for arguments */
	char *uart_name = "/dev/ttyS1";
	baudrate = 57600;

	/* read program arguments */
	int i;

	for (i = 1; i < argc; i++) { /* argv[0] is "mavlink" */

		if (strcmp(argv[i], "-h") == 0 || strcmp(argv[i], "--help") == 0) {
			usage("");
			return 0;
		} else if (strcmp(argv[i], "-d") == 0 || strcmp(argv[i], "--device") == 0) {
			if (argc > i + 1) {
				uart_name = argv[i + 1];
				i++;
			} else {
				usage("missing argument for device (-d)");
				return 1;
			}
		} else if (strcmp(argv[i], "-b") == 0 || strcmp(argv[i], "--baud") == 0) {
			if (argc > i + 1) {
				baudrate = atoi(argv[i + 1]);
				i++;
			} else {
				usage("missing argument for baud rate (-b)");
				return 1;
			}
		} else if (strcmp(argv[i], "-e") == 0 || strcmp(argv[i], "--exit-allowed") == 0) {
			mavlink_link_termination_allowed = true;
		} else if (strcmp(argv[i], "-o") == 0 || strcmp(argv[i], "--onboard") == 0) {
			mavlink_link_mode = MAVLINK_INTERFACE_MODE_ONBOARD;
		} else {
			usage("out of order or invalid argument");
			return 1;
		}
	}

	struct termios uart_config_original;

	bool usb_uart;

	uart = mavlink_open_uart(baudrate, uart_name, &uart_config_original, &usb_uart);

	if (uart < 0) {
		printf("[mavlink] FAILED to open %s, terminating.\n", uart_name);
		goto exit_cleanup;
	}

	/* Flush UART */
	fflush(stdout);

	/* Initialize system properties */
	mavlink_update_system();

	/* start the MAVLink receiver */
	receive_thread = receive_start(uart);

	/* start the ORB receiver */
	uorb_receive_thread = uorb_receive_start();

	/* initialize waypoint manager */
	mavlink_wpm_init(wpm);

	uint16_t counter = 0;

	/* all subscriptions are now active, set up initial guess about rate limits */
	if (baudrate >= 230400) {
		/* 200 Hz / 5 ms */
		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 20);
		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 20);
		/* 50 Hz / 20 ms */
		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 30);
		/* 20 Hz / 50 ms */
		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 10);
		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 50);
		/* 2 Hz */
		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 100);
	} else if (baudrate >= 115200) {
		/* 50 Hz / 20 ms */
		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 200);
		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 200);
		/* 20 Hz / 50 ms */
		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 200);
		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 200);
		/* 10 Hz / 100 ms */
		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 200);
		/* 1 Hz */
		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 1000);
	} else if (baudrate >= 57600) {
		/* 10 Hz / 100 ms */
		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 100);
		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 100);
		/* 10 Hz / 100 ms ATTITUDE */
		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 100);
		/* 5 Hz / 200 ms */
		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 200);
		/* 5 Hz / 200 ms */
		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 200);
		/* 2 Hz */
		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 500);
	} else {
		/* very low baud rate, limit to 1 Hz / 1000 ms */
		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 1000);
		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 1000);
		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 1000);
		/* 1 Hz / 1000 ms */
		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 1000);
		/* 0.5 Hz */
		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 2000);
		/* 0.1 Hz */
		set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 10000);
	}

	thread_running = true;

	/* arm counter to go off immediately */
	int lowspeed_counter = 10;

	while (!thread_should_exit) {

		/* 1 Hz */
		if (lowspeed_counter == 10) {
			mavlink_update_system();

			/* translate the current system state to mavlink state and mode */
			uint8_t mavlink_state = 0;
			uint8_t mavlink_mode = 0;
			get_mavlink_mode_and_state(&mavlink_state, &mavlink_mode);

			/* send heartbeat */
			mavlink_msg_heartbeat_send(chan, mavlink_system.type, MAV_AUTOPILOT_PX4, mavlink_mode, v_status.state_machine, mavlink_state);

			/* switch HIL mode if required */
			set_hil_on_off(v_status.flag_hil_enabled);

			/* send status (values already copied in the section above) */
			mavlink_msg_sys_status_send(chan,
						    v_status.onboard_control_sensors_present,
						    v_status.onboard_control_sensors_enabled,
						    v_status.onboard_control_sensors_health,
						    v_status.load,
						    v_status.voltage_battery * 1000.0f,
						    v_status.current_battery * 1000.0f,
						    v_status.battery_remaining,
						    v_status.drop_rate_comm,
						    v_status.errors_comm,
						    v_status.errors_count1,
						    v_status.errors_count2,
						    v_status.errors_count3,
						    v_status.errors_count4);
			lowspeed_counter = 0;
		}
		lowspeed_counter++;

		/* sleep quarter the time */
		usleep(25000);

		/* check if waypoint has been reached against the last positions */
		mavlink_waypoint_eventloop(mavlink_missionlib_get_system_timestamp(), &global_pos, &local_pos);

		/* sleep quarter the time */
		usleep(25000);

		/* send parameters at 20 Hz (if queued for sending) */
		mavlink_pm_queued_send();

		/* sleep quarter the time */
		usleep(25000);
		if (baudrate > 57600) {
			mavlink_pm_queued_send();
		}

		/* sleep 10 ms */
		usleep(10000);

		/* send one string at 10 Hz */
		if (mavlink_message_string[0] != '\0') {
			mavlink_missionlib_send_gcs_string(mavlink_message_string);
			mavlink_message_string[0] = '\0';
		}
		counter++;

		/* sleep 15 ms */
		usleep(15000);
	}

	/* wait for threads to complete */
	pthread_join(receive_thread, NULL);
	pthread_join(uorb_receive_thread, NULL);

	/* Reset the UART flags to original state */
	if (!usb_uart) {
		int termios_state;

		if ((termios_state = tcsetattr(uart, TCSANOW, &uart_config_original)) < 0) {
			fprintf(stderr, "[mavlink] ERROR setting baudrate / termios config for %s (tcsetattr)\r\n", uart_name);
		}

		printf("[mavlink] Restored original UART config, exiting..\n");
	}

exit_cleanup:

	/* close uart */
	close(uart);

	/* close subscriptions */
	close(mavlink_subs.global_pos_sub);
	close(mavlink_subs.local_pos_sub);

	fflush(stdout);
	fflush(stderr);

	thread_running = false;

	return 0;
}

static void
usage(const char *reason)
{
	if (reason)
		fprintf(stderr, "%s\n", reason);
	fprintf(stderr, "usage: mavlink {start|stop|status} [-d <devicename>] [-b <baudrate>] [-e/--exit-allowed]\n\n");
	exit(1);
}

int mavlink_main(int argc, char *argv[])
{
	if (argc < 1)
		usage("missing command");

	if (!strcmp(argv[1], "start")) {

		if (thread_running) {
			printf("mavlink already running\n");
			/* this is not an error */
			exit(0);
		}

		thread_should_exit = false;
		mavlink_task = task_spawn("mavlink",
					  SCHED_DEFAULT,
					  SCHED_PRIORITY_DEFAULT,
					  6000,
					  mavlink_thread_main,
					  (argv) ? (const char **)&argv[2] : (const char **)NULL);
		exit(0);
	}

	if (!strcmp(argv[1], "stop")) {
		thread_should_exit = true;
		exit(0);
	}

	if (!strcmp(argv[1], "status")) {
		if (thread_running) {
			printf("\tmavlink app is running\n");
		} else {
			printf("\tmavlink app not started\n");
		}
		exit(0);
	}

	usage("unrecognized command");
	exit(1);
}