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 mavlink.

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

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

func (*MavlinkAdaptor) Connect

func (m *MavlinkAdaptor) Connect() bool

func (*MavlinkAdaptor) Finalize

func (m *MavlinkAdaptor) Finalize() bool

type MavlinkDriver

type MavlinkDriver struct {
	gobot.Driver
}

func NewMavlinkDriver

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

func (*MavlinkDriver) Halt

func (m *MavlinkDriver) Halt() bool

func (*MavlinkDriver) SendPacket

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

func (*MavlinkDriver) Start

func (m *MavlinkDriver) Start() bool

type MavlinkInterface

type MavlinkInterface interface {
}