For information on the MAVlink communication protocol click here.
This package supports Mavlink over serial (such as a SiK modem) and Mavlink over UDP (such as via 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.
As at 2018-04, 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.
go get -d -u gobot.io/x/gobot/...
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() {
iris.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,
))
})
iris.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()
} 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.