mavlink

package
Version: v1.3.0 Latest Latest
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Published: Mar 22, 2017 License: Apache-2.0, Apache-2.0 Imports: 5 Imported by: 0

README

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://github.com/hybridgroup/gobot/blob/master/platforms/mavlink/README.md

Index

Constants

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

Variables

This section is empty.

Functions

This section is empty.

Types

type Adaptor added in v1.0.0

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

func NewAdaptor added in v1.0.0

func NewAdaptor(port string) *Adaptor

NewAdaptor creates a new mavlink adaptor with specified port

func (*Adaptor) Connect added in v1.0.0

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

Connect returns true if connection to device is successful

func (*Adaptor) Finalize added in v1.0.0

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

Finalize returns true if connection to devices is closed successfully

func (*Adaptor) Name added in v1.0.0

func (m *Adaptor) Name() string

func (*Adaptor) Port added in v1.0.0

func (m *Adaptor) Port() string

func (*Adaptor) SetName added in v1.0.0

func (m *Adaptor) SetName(n string)

type Driver added in v1.0.0

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

func NewDriver added in v1.0.0

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 added in v1.0.0

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

func (*Driver) Halt added in v1.0.0

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

Halt returns true if device is halted successfully

func (*Driver) Name added in v1.0.0

func (m *Driver) Name() string

func (*Driver) SendPacket added in v1.0.0

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

SendPacket sends a packet to mavlink device

func (*Driver) SetName added in v1.0.0

func (m *Driver) SetName(n string)

func (*Driver) Start added in v1.0.0

func (m *Driver) Start() error

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

type MavlinkInterface

type MavlinkInterface interface {
}

Directories

Path Synopsis

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