# Mavlink

For information on the MAVlink communication protocol click [here](http://qgroundcontrol.org/mavlink/start).

This package supports Mavlink over serial (such as a
[SiK modem](http://ardupilot.org/copter/docs/common-sik-telemetry-radio.html))
and Mavlink over UDP (such as via
[mavproxy](https://github.com/ArduPilot/MAVProxy)).  Serial is useful
for point to point links, and UDP is useful for where you have
multiple simultaneous clients such as the robot and
[QGroundControl](http://qgroundcontrol.com/).

As at 2017-04, this package supports Mavlink 1.0 only.  If the robot
doesn't receiving data then check that the other devices are
configured to send version 1.0 frames.

## How to Install

```
go get -d -u gobot.io/x/gobot/...

```

## How to Use

```go
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()
}
```

## How to use: UDP

``` go
	adaptor := mavlink.NewUDPAdaptor(":14550")
```

To test, install Mavproxy and set it up to listen on serial and repeat
over UDP:

`$ mavproxy.py --out=udpbcast:192.168.0.255:14550`

Change the address to the broadcast address of your subnet.