95 lines
2.2 KiB
Markdown
95 lines
2.2 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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This package supports Mavlink over serial (such as a
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[SiK modem](http://ardupilot.org/copter/docs/common-sik-telemetry-radio.html))
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and Mavlink over UDP (such as via
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[mavproxy](https://github.com/ArduPilot/MAVProxy)). Serial is useful
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for point to point links, and UDP is useful for where you have
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multiple simultaneous clients such as the robot and
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[QGroundControl](http://qgroundcontrol.com/).
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As at 2017-04, this package supports Mavlink 1.0 only. If the robot
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doesn't receiving data then check that the other devices are
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configured to send version 1.0 frames.
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## How to Install
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```
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go get -d -u gobot.io/x/gobot/...
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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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"gobot.io/x/gobot"
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"gobot.io/x/gobot/platforms/mavlink"
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common "gobot.io/x/gobot/platforms/mavlink/common"
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)
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func main() {
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adaptor := mavlink.NewAdaptor("/dev/ttyACM0")
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iris := mavlink.NewDriver(adaptor)
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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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robot.Start()
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}
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```
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## How to use: UDP
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``` go
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adaptor := mavlink.NewUDPAdaptor(":14550")
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```
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To test, install Mavproxy and set it up to listen on serial and repeat
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over UDP:
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`$ mavproxy.py --out=udpbcast:192.168.0.255:14550`
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Change the address to the broadcast address of your subnet.
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