74 lines
1.6 KiB
Markdown
74 lines
1.6 KiB
Markdown
# Mavlink
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For information on the MAVlink communication protocol click [here](http://qgroundcontrol.org/mavlink/start).
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## How to Install
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```
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go get -d -u github.com/hybridgroup/gobot/... && go install github.com/hybridgroup/gobot/platforms/mavlink
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```
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## How to Use
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```go
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package main
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import (
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"fmt"
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"github.com/hybridgroup/gobot"
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"github.com/hybridgroup/gobot/platforms/mavlink"
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common "github.com/hybridgroup/gobot/platforms/mavlink/common"
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)
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func main() {
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gbot := gobot.NewGobot()
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adaptor := mavlink.NewMavlinkAdaptor("iris", "/dev/ttyACM0")
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iris := mavlink.NewMavlinkDriver(adaptor, "iris")
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work := func() {
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gobot.Once(iris.Event("packet"), func(data interface{}) {
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packet := data.(*common.MAVLinkPacket)
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dataStream := common.NewRequestDataStream(100,
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packet.SystemID,
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packet.ComponentID,
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4,
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1,
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)
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iris.SendPacket(common.CraftMAVLinkPacket(packet.SystemID,
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packet.ComponentID,
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dataStream,
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))
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})
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gobot.On(iris.Event("message"), func(data interface{}) {
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if data.(common.MAVLinkMessage).Id() == 30 {
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message := data.(*common.Attitude)
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fmt.Println("Attitude")
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fmt.Println("TIME_BOOT_MS", message.TIME_BOOT_MS)
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fmt.Println("ROLL", message.ROLL)
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fmt.Println("PITCH", message.PITCH)
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fmt.Println("YAW", message.YAW)
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fmt.Println("ROLLSPEED", message.ROLLSPEED)
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fmt.Println("PITCHSPEED", message.PITCHSPEED)
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fmt.Println("YAWSPEED", message.YAWSPEED)
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fmt.Println("")
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}
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})
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}
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robot := gobot.NewRobot("mavBot",
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[]gobot.Connection{adaptor},
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[]gobot.Device{iris},
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work,
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)
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gbot.AddRobot(robot)
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gbot.Start()
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}
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```
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