func main() {
gbot := gobot.NewGobot()
adaptor := mavlink.NewMavlinkAdaptor("iris", "/dev/ttyACM0")
iris := mavlink.NewMavlinkDriver(adaptor, "iris")
work := func() {
iris.Once(mavlink.PacketEvent, 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(mavlink.MessageEvent, 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,
)
gbot.AddRobot(robot)
gbot.Start()
}
func main() {
if gobot.Version() != "0.7.dev" {
panic("this requires the dev branch!")
}
summary := &telemetry{Status: "STANDBY"}
gbot := gobot.NewGobot()
a := api.NewAPI(gbot)
a.Get("/mavlink/:a", func(res http.ResponseWriter, req *http.Request) {
path := req.URL.Path
t := strings.Split(path, "/")
buf, err := Asset("assets/" + t[2])
if err != nil {
http.Error(res, err.Error(), http.StatusNotFound)
return
}
t = strings.Split(path, ".")
if t[len(t)-1] == "js" {
res.Header().Set("Content-Type", "text/javascript; charset=utf-8")
} else if t[len(t)-1] == "css" {
res.Header().Set("Content-Type", "text/css; charset=utf-8")
}
res.Write(buf)
})
adaptor := mavlink.NewMavlinkAdaptor("iris", "/dev/ttyACM0")
iris := mavlink.NewMavlinkDriver(adaptor, "iris")
work := func() {
iris.AddEvent("telemetry")
gobot.Once(iris.Event("packet"), func(data interface{}) {
fmt.Println(data)
packet := data.(*common.MAVLinkPacket)
dataStream := common.NewRequestDataStream(10,
packet.SystemID,
packet.ComponentID,
0,
1,
)
iris.SendPacket(common.CraftMAVLinkPacket(packet.SystemID,
packet.ComponentID,
dataStream,
))
})
gobot.On(iris.Event("message"), func(data interface{}) {
fmt.Println("message: ", data.(common.MAVLinkMessage).Id())
if data.(common.MAVLinkMessage).Id() == 0 {
statusCodes := map[uint8]string{
1: "BOOT",
2: "CALIBRATING",
3: "STANDBY",
4: "ACTIVE",
5: "CRITICAL",
6: "EMERGENCY",
7: "POWEROFF",
8: "ENUM_END",
}
summary.Status = statusCodes[data.(*common.Heartbeat).SYSTEM_STATUS]
if summary.Status != "" {
gobot.Publish(iris.Event("telemetry"), summary)
}
}
if data.(common.MAVLinkMessage).Id() == 30 {
roll := data.(*common.Attitude).ROLL
pitch := data.(*common.Attitude).PITCH
yaw := data.(*common.Attitude).YAW
if roll < 4 || roll > -4 {
summary.Roll = (roll * 180 / 3.14)
}
if yaw < 4 || roll > -4 {
summary.Yaw = (yaw * 180 / 3.14)
}
if pitch < 4 || roll > -4 {
summary.Pitch = (pitch * 180 / 3.14)
}
gobot.Publish(iris.Event("telemetry"), summary)
}
if data.(common.MAVLinkMessage).Id() == 33 {
summary.Latitude = float32(data.(*common.GlobalPositionInt).LAT) / 10000000.0
summary.Longitude = float32(data.(*common.GlobalPositionInt).LON) / 10000000.0
summary.Altitude = data.(*common.GlobalPositionInt).ALT
summary.Heading = float32(data.(*common.GlobalPositionInt).HDG) / 100
gobot.Publish(iris.Event("telemetry"), summary)
}
})
}
gbot.AddRobot(gobot.NewRobot("irisBot",
[]gobot.Connection{adaptor},
[]gobot.Device{iris},
work,
))
a.Start()
gbot.Start()
}