mavlink-log 0.0.1 → 0.0.2
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- checksums.yaml +4 -4
- data/README.md +1 -0
- data/lib/mavlink/log.rb +5 -1
- data/lib/mavlink/log/entry.rb +34 -0
- data/lib/mavlink/log/file.rb +16 -41
- data/lib/mavlink/log/header.rb +20 -0
- data/lib/mavlink/log/message.rb +83 -0
- data/lib/mavlink/log/messages/attitude.rb +37 -0
- data/lib/mavlink/log/messages/factory.rb +37 -0
- data/lib/mavlink/log/messages/global_position_int.rb +47 -0
- data/lib/mavlink/log/messages/gps_raw_int.rb +51 -0
- data/lib/mavlink/log/messages/heart_beat.rb +31 -0
- data/lib/mavlink/log/messages/messages.rb +15 -0
- data/lib/mavlink/log/messages/mission_current.rb +11 -0
- data/lib/mavlink/log/messages/nav_controller_output.rb +39 -0
- data/lib/mavlink/log/messages/param_request_list.rb +15 -0
- data/lib/mavlink/log/messages/param_value.rb +27 -0
- data/lib/mavlink/log/messages/raw_imu.rb +43 -0
- data/lib/mavlink/log/messages/rc_channels_raw.rb +47 -0
- data/lib/mavlink/log/messages/request_data_stream.rb +27 -0
- data/lib/mavlink/log/messages/scaled_pressure.rb +19 -0
- data/lib/mavlink/log/messages/servo_output_raw.rb +43 -0
- data/lib/mavlink/log/messages/sys_status.rb +64 -0
- data/lib/mavlink/log/messages/vfr_hud.rb +37 -0
- data/lib/mavlink/log/version.rb +1 -1
- data/spec/file_spec.rb +11 -1
- data/spec/messages/attitude_spec.rb +34 -0
- data/spec/messages/global_position_int_spec.rb +38 -0
- data/spec/messages/gps_raw_int_spec.rb +40 -0
- data/spec/messages/heart_beat_spec.rb +32 -0
- data/spec/messages/param_value_spec.rb +30 -0
- data/spec/messages/raw_imu_spec.rb +40 -0
- data/spec/messages/rc_channels_raw_spec.rb +42 -0
- data/spec/messages/sys_status_spec.rb +46 -0
- data/spec/messages/vfr_hud_spec.rb +32 -0
- data/spec/spec_helper.rb +2 -0
- data/spec/support/shared_examples_for_message.rb +13 -0
- data/spec/support/shared_examples_for_timed_message_micro.rb +9 -0
- data/spec/support/shared_examples_for_timed_message_milli.rb +9 -0
- data/spec/sys_status_spec.rb +0 -0
- metadata +48 -3
- data/lib/mavlink/log/messages.rb +0 -138
data/lib/mavlink/log/messages.rb
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module MAVLink
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module Log
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class Message
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class << self
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attr_accessor :id
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end
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end
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class TimedMessage < Message
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attr_accessor :time_boot_ms
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def initialize(raw_payload)
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@time_boot_ms = raw_payload[0..3].unpack('L<')[0]
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end
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end
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class HeartBeat < Message
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ID = 0
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attr_accessor :type, :autopilot, :base_mode, :custom_mode, :system_status, :mavlink_version
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def initialize(raw_payload)
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@type = raw_payload[0].unpack('C')[0]
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@autopilot = raw_payload[1].unpack('C')[0]
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@base_mode = raw_payload[2].unpack('C')[0]
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@custom_mode = raw_payload[3..6].unpack('L<')[0]
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@system_status = raw_payload[7].unpack('C')[0]
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@mavlink_version = raw_payload[8].unpack('C')[0]
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end
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end
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class SysStatus < Message
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ID = 1
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attr_accessor :onboard_control_sensors_present, :onboard_control_sensors_enabled,
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:onboard_control_sensors_health, :load, :voltage_battery, :current_battery,
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:battery_remaining, :drop_rate_comm, :errors_comm,
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:errors_count1, :errors_count2, :errors_count3, :errors_count4
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def initialize(raw_payload)
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@onboard_control_sensors_present = raw_payload[0..3].unpack('L<')[0] #
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@onboard_control_sensors_enabled = raw_payload[4..7].unpack('L<')[0] #
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@onboard_control_sensors_health = raw_payload[8..11].unpack('L<')[0] #
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@load = raw_payload[12..13].unpack('S<')[0] / 10.0 # 0%..100%
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@voltage_battery = raw_payload[14..15].unpack('S<')[0] / 1000.0 # V
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@current_battery = raw_payload[16..17].unpack('s<')[0] / 100.0 # A (-1: not measured)
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@battery_remaining = raw_payload[18].unpack('C')[0] # 0%..100% (-1: not measured)
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@drop_rate_comm = raw_payload[19..20].unpack('S<')[0] / 100 # 0%..100% (bad packet %age)
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@errors_comm = raw_payload[21..22].unpack('S<')[0] # bad packet count
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@errors_count1 = raw_payload[23..24].unpack('S<')[0] #
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@errors_count2 = raw_payload[25..26].unpack('S<')[0] #
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@errors_count3 = raw_payload[27..28].unpack('S<')[0] #
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@errors_count4 = raw_payload[29..30].unpack('S<')[0] #
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end
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end
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class Attitude < TimedMessage
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ID = 30
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attr_accessor :roll, :pitch, :yaw, :rollspeed, :pitchspeed, :yawspeed
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def initialize(raw_payload)
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super
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@roll = raw_payload[0..3].unpack('e')[0] # radians (-pi..pi)
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@pitch = raw_payload[4..7].unpack('e')[0] # radians (-pi..pi)
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@yaw = raw_payload[8..11].unpack('e')[0] # radians (-pi..pi)
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@rollspeed = raw_payload[12..15].unpack('e')[0] # rad/s
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@pitchspeed = raw_payload[16..19].unpack('e')[0] # rad/s
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@yawspeed = raw_payload[20..23].unpack('e')[0] # rad/s
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end
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end
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class GlobalPositionInt < TimedMessage
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ID = 33
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attr_accessor :lat, :lon, :alt, :relative_alt, :vx, :vy, :vz, :hdg
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def initialize(raw_payload)
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super
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@lat = raw_payload[4..7].unpack('l<')[0] / 10000000.0 # dec. degrees
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@lon = raw_payload[8..11].unpack('l<')[0] / 10000000.0 # dec. degrees
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@alt = raw_payload[12..15].unpack('l<')[0] / 1000.0 # meters
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@relative_alt = raw_payload[16..19].unpack('l<')[0] / 1000.0 # meters
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@vx = raw_payload[20..21].unpack('s<')[0] / 100.0 # m/s
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@vy = raw_payload[22..23].unpack('s<')[0] / 100.0 # m/s
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@vz = raw_payload[24..25].unpack('s<')[0] / 100.0 # m/s
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@hdg = raw_payload[26..27].unpack('S<')[0] / 100.0 # degrees (0.0..359.99) (0xFFFF if unknown)
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end
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end
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class VfrHud < Message
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ID = 74
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attr_accessor :airspeed, :groundspeed, :heading, :throttle, :alt, :climb
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def initialize(raw_payload)
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@airspeed = raw_payload[0..3].unpack('e')[0] # m/s
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@groundspeed = raw_payload[4..7].unpack('e')[0] # m/s
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@heading = raw_payload[8..9].unpack('s<')[0] # degrees (0..360)
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@throttle = raw_payload[10..11].unpack('S<')[0] # 0..100%
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@alt = raw_payload[12..15].unpack('e')[0] # meters (MSL)
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@climb = raw_payload[16..19].unpack('e')[0] # m/s
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end
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end
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class MessageFactory
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def self.build(entry)
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case(entry.header.id)
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when HeartBeat::ID; HeartBeat.new(entry.payload)
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when SysStatus::ID; SysStatus.new(entry.payload)
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when Attitude::ID; Attitude.new(entry.payload)
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when GlobalPositionInt::ID; GlobalPositionInt.new(entry.payload)
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when VfrHud::ID; VfrHud.new(entry.payload)
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else
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#puts entry.header.inspect
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nil
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end
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end
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end
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end
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end
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