mavlink

README

mavlink

Gobot (http://gobot.io/) is a framework for robotics and physical computing using Go

This repository contains the Gobot adaptor and driver for the MAVlink Communication Protocol.

For more information about Gobot, check out the github repo at https://github.com/hybridgroup/gobot

Installing

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

Using

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

• type MavlinkAdaptor
  • func NewMavlinkAdaptor(name string, port string) *MavlinkAdaptor
  • func (m *MavlinkAdaptor) Connect() bool
  • func (m *MavlinkAdaptor) Finalize() bool
• type MavlinkDriver
  • func NewMavlinkDriver(a *MavlinkAdaptor, name string) *MavlinkDriver
  • func (m *MavlinkDriver) Halt() bool
  • func (m *MavlinkDriver) SendPacket(packet *common.MAVLinkPacket)
  • func (m *MavlinkDriver) Start() bool
• type MavlinkInterface

Types

type MavlinkAdaptor

type MavlinkAdaptor struct {
	gobot.Adaptor
	// 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() bool

Connect returns true if connection to device is successful

func (*MavlinkAdaptor) Finalize

func (m *MavlinkAdaptor) Finalize() bool

Finalize returns true if connection to devices is closed successfully

type MavlinkDriver

type MavlinkDriver struct {
	gobot.Driver
}

func NewMavlinkDriver

func NewMavlinkDriver(a *MavlinkAdaptor, name string) *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) Halt

func (m *MavlinkDriver) Halt() bool

Halt returns true if device is halted successfully

func (*MavlinkDriver) SendPacket

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

SendPacket sends a packet to mavlink device

func (*MavlinkDriver) Start

func (m *MavlinkDriver) Start() bool

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

type MavlinkInterface

type MavlinkInterface interface {
}