Mavlink


For information on the MAVlink communication protocol click here.

API Reference

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()
}

Drivers