mavlink

README

Mavlink

For information on the MAVlink communication protocol click here.

How to Install

go get -d -u github.com/hybridgroup/gobot/... && go install github.com/hybridgroup/gobot/platforms/mavlink

How to Use

package main

import (
	"fmt"

	"github.com/hybridgroup/gobot"
	"github.com/hybridgroup/gobot/platforms/mavlink"
	common "github.com/hybridgroup/gobot/platforms/mavlink/common"
)

func main() {
	gbot := gobot.NewGobot()

	adaptor := mavlink.NewMavlinkAdaptor("iris", "/dev/ttyACM0")
	iris := mavlink.NewMavlinkDriver(adaptor, "iris")

	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,
	)

	gbot.AddRobot(robot)

	gbot.Start()
}

Documentation

Overview

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

Installing:

go get github.com/hybridgroup/gobot/platforms/mavlink

Example:

package main

import (
	"fmt"

	"github.com/hybridgroup/gobot"
	"github.com/hybridgroup/gobot/platforms/mavlink"
	common "github.com/hybridgroup/gobot/platforms/mavlink/common"
)

func main() {
	gbot := gobot.NewGobot()

	adaptor := mavlink.NewMavlinkAdaptor("iris", "/dev/ttyACM0")
	iris := mavlink.NewMavlinkDriver(adaptor, "iris")

	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,
	)

	gbot.AddRobot(robot)

	gbot.Start()
}

For further information refer to mavlink README: https://github.com/hybridgroup/gobot/blob/master/platforms/mavlink/README.md

Index

• Constants
• type MavlinkAdaptor
  • func NewMavlinkAdaptor(name string, port string) *MavlinkAdaptor
  • func (m *MavlinkAdaptor) Connect() (errs []error)
  • func (m *MavlinkAdaptor) Finalize() (errs []error)
  • func (m *MavlinkAdaptor) Name() string
  • func (m *MavlinkAdaptor) Port() string
• type MavlinkDriver
  • func NewMavlinkDriver(a *MavlinkAdaptor, name string, v ...time.Duration) *MavlinkDriver
  • func (m *MavlinkDriver) Connection() gobot.Connection
  • func (m *MavlinkDriver) Halt() (errs []error)
  • func (m *MavlinkDriver) Name() string
  • func (m *MavlinkDriver) SendPacket(packet *common.MAVLinkPacket) (err error)
  • func (m *MavlinkDriver) Start() (errs []error)
• type MavlinkInterface

Constants

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

Types

type MavlinkAdaptor

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

func NewMavlinkAdaptor

func NewMavlinkAdaptor(name string, port string) *MavlinkAdaptor

NewMavLinkAdaptor creates a new mavlink adaptor with specified name and port

func (*MavlinkAdaptor) Connect

func (m *MavlinkAdaptor) Connect() (errs []error)

Connect returns true if connection to device is successful

func (*MavlinkAdaptor) Finalize

func (m *MavlinkAdaptor) Finalize() (errs []error)

Finalize returns true if connection to devices is closed successfully

func (*MavlinkAdaptor) Name

func (m *MavlinkAdaptor) Name() string

func (*MavlinkAdaptor) Port

func (m *MavlinkAdaptor) Port() string

type MavlinkDriver

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

func NewMavlinkDriver

func NewMavlinkDriver(a *MavlinkAdaptor, name string, v ...time.Duration) *MavlinkDriver

NewMavlinkDriver creates a new mavlink driver with specified name.

It add the following events:

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

func (*MavlinkDriver) Connection

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

func (*MavlinkDriver) Halt

func (m *MavlinkDriver) Halt() (errs []error)

Halt returns true if device is halted successfully

func (*MavlinkDriver) Name

func (m *MavlinkDriver) Name() string

func (*MavlinkDriver) SendPacket

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

SendPacket sends a packet to mavlink device

func (*MavlinkDriver) Start

func (m *MavlinkDriver) Start() (errs []error)

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

type MavlinkInterface

type MavlinkInterface interface {
}