mavlink

README

Mavlink

For information on the MAVlink communication protocol click here.

How to Install

go get -d -u gobot.io/x/gobot/... && go install gobot.io/x/gobot/platforms/mavlink

How to Use

package main

import (
	"fmt"

	"gobot.io/x/gobot"
	"gobot.io/x/gobot/platforms/mavlink"
	common "gobot.io/x/gobot/platforms/mavlink/common"
)

func main() {
	adaptor := mavlink.NewAdaptor("/dev/ttyACM0")
	iris := mavlink.NewDriver(adaptor)

	work := func() {
		gobot.Once(iris.Event("packet"), func(data interface{}) {
			packet := data.(*common.MAVLinkPacket)

			dataStream := common.NewRequestDataStream(100,
				packet.SystemID,
				packet.ComponentID,
				4,
				1,
			)
			iris.SendPacket(common.CraftMAVLinkPacket(packet.SystemID,
				packet.ComponentID,
				dataStream,
			))
		})

		gobot.On(iris.Event("message"), func(data interface{}) {
			if data.(common.MAVLinkMessage).Id() == 30 {
				message := data.(*common.Attitude)
				fmt.Println("Attitude")
				fmt.Println("TIME_BOOT_MS", message.TIME_BOOT_MS)
				fmt.Println("ROLL", message.ROLL)
				fmt.Println("PITCH", message.PITCH)
				fmt.Println("YAW", message.YAW)
				fmt.Println("ROLLSPEED", message.ROLLSPEED)
				fmt.Println("PITCHSPEED", message.PITCHSPEED)
				fmt.Println("YAWSPEED", message.YAWSPEED)
				fmt.Println("")
			}
		})
	}

	robot := gobot.NewRobot("mavBot",
		[]gobot.Connection{adaptor},
		[]gobot.Device{iris},
		work,
	)

	robot.Start()
}

Documentation

Overview

Package mavlink contains the Gobot adaptor and driver for the MAVlink Communication Protocol.

Installing:

go get gobot.io/x/gobot/platforms/mavlink

Example:

package main

import (
	"fmt"

	"gobot.io/x/gobot"
	"gobot.io/x/gobot/platforms/mavlink"
	common "gobot.io/x/gobot/platforms/mavlink/common"
)

func main() {
	adaptor := mavlink.NewAdaptor("/dev/ttyACM0")
	iris := mavlink.NewDriver(adaptor)

	work := func() {
		iris.Once(iris.Event("packet"), func(data interface{}) {
			packet := data.(*common.MAVLinkPacket)

			dataStream := common.NewRequestDataStream(100,
				packet.SystemID,
				packet.ComponentID,
				4,
				1,
			)
			iris.SendPacket(common.CraftMAVLinkPacket(packet.SystemID,
				packet.ComponentID,
				dataStream,
			))
		})

		iris.On(iris.Event("message"), func(data interface{}) {
			if data.(common.MAVLinkMessage).Id() == 30 {
				message := data.(*common.Attitude)
				fmt.Println("Attitude")
				fmt.Println("TIME_BOOT_MS", message.TIME_BOOT_MS)
				fmt.Println("ROLL", message.ROLL)
				fmt.Println("PITCH", message.PITCH)
				fmt.Println("YAW", message.YAW)
				fmt.Println("ROLLSPEED", message.ROLLSPEED)
				fmt.Println("PITCHSPEED", message.PITCHSPEED)
				fmt.Println("YAWSPEED", message.YAWSPEED)
				fmt.Println("")
			}
		})
	}

	robot := gobot.NewRobot("mavBot",
		[]gobot.Connection{adaptor},
		[]gobot.Device{iris},
		work,
	)

	robot.Start()
}

For further information refer to mavlink README: https://gobot.io/x/gobot/blob/master/platforms/mavlink/README.md

Index

• Constants
• type Adaptor
  • func NewAdaptor(port string) *Adaptor
  • func (m *Adaptor) Connect() (err error)
  • func (m *Adaptor) Finalize() (err error)
  • func (m *Adaptor) Name() string
  • func (m *Adaptor) Port() string
  • func (m *Adaptor) SetName(n string)
• type Driver
  • func NewDriver(a *Adaptor, v ...time.Duration) *Driver
  • func (m *Driver) Connection() gobot.Connection
  • func (m *Driver) Halt() (err error)
  • func (m *Driver) Name() string
  • func (m *Driver) SendPacket(packet *common.MAVLinkPacket) (err error)
  • func (m *Driver) SetName(n string)
  • func (m *Driver) Start() error
• type MavlinkInterface

Constants

const (
	// PacketEvent event
	PacketEvent = "packet"
	// MessageEvent event
	MessageEvent = "message"
	// ErrorIOEEvent event
	ErrorIOEvent = "errorIO"
	// ErrorMAVLinkEvent event
	ErrorMAVLinkEvent = "errorMAVLink"
)

Types

type Adaptor

type Adaptor struct {
	// contains filtered or unexported fields
}

func NewAdaptor

func NewAdaptor(port string) *Adaptor

NewAdaptor creates a new mavlink adaptor with specified port

func (*Adaptor) Connect

func (m *Adaptor) Connect() (err error)

Connect returns true if connection to device is successful

func (*Adaptor) Finalize

func (m *Adaptor) Finalize() (err error)

Finalize returns true if connection to devices is closed successfully

func (*Adaptor) Name

func (m *Adaptor) Name() string

func (*Adaptor) Port

func (m *Adaptor) Port() string

func (*Adaptor) SetName

func (m *Adaptor) SetName(n string)

type Driver

type Driver struct {
	gobot.Eventer
	// contains filtered or unexported fields
}

func NewDriver

func NewDriver(a *Adaptor, v ...time.Duration) *Driver

NewDriver creates a new mavlink driver.

It add the following events:

"packet" - triggered when a new packet is read
"message" - triggered when a new valid message is processed

func (*Driver) Connection

func (m *Driver) Connection() gobot.Connection

func (*Driver) Halt

func (m *Driver) Halt() (err error)

Halt returns true if device is halted successfully

func (*Driver) Name

func (m *Driver) Name() string

func (*Driver) SendPacket

func (m *Driver) SendPacket(packet *common.MAVLinkPacket) (err error)

SendPacket sends a packet to mavlink device

func (*Driver) SetName

func (m *Driver) SetName(n string)

func (*Driver) Start

func (m *Driver) Start() error

Start begins process to read mavlink packets every m.Interval and process them

type MavlinkInterface

type MavlinkInterface interface {
}