59 lines
1.3 KiB
Go
59 lines
1.3 KiB
Go
|
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()
|
||
|
|
}
|