node-mavlink 1.4.0 → 1.5.0
This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.
- package/README.md +10 -0
- package/dist/lib/mavlink.d.ts +5 -1
- package/dist/lib/mavlink.d.ts.map +1 -1
- package/dist/lib/mavlink.js +26 -4
- package/examples/parse-tlog-file.ts +12 -3
- package/examples/send-receive-udp.ts +16 -13
- package/package.json +2 -2
package/README.md
CHANGED
@@ -226,6 +226,16 @@ The default values for some parameters are as follows:
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This is a very handy utility function that asynchronously pauses for a given time (ms).
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## Running sim_vehicle.py
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The easiest way to start playing around with this package is to use `sim_vehicle.py`. You can use the default parameters forthe MavEsp8266 if you'll make the simulator compatible with it:
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```
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$ Tools/autotest/sim_vehicle.py -v ArduCopter -f quad --console --map --out udpin:127.0.0.1:14555
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```
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That last parameter (`--out udpin:127.0.0.1:14555`) opens up for incoming messages in port 14555, which is the default send port for MavEsp8266 and its default firmware.
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## Closing thoughts
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The original generated sources lack one very important aspect of a reusable library: documentation. Also, most of the time the names are more C-like than JavaScript-like.
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package/dist/lib/mavlink.d.ts
CHANGED
@@ -207,7 +207,7 @@ export declare class MavLinkPacketSplitter extends Transform {
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*/
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constructor(opts?: {}, onCrcError?: BufferCallback);
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_transform(chunk: Buffer, encoding: string, callback: TransformCallback): void;
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-
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protected findStartOfPacket(buffer: Buffer, offset?: number): number | null;
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private getPacketProtocol;
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private readPacketLength;
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private validatePacket;
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@@ -242,6 +242,10 @@ export declare class MavLinkPacketSplitter extends Transform {
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*/
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resetUnknownPackagesCount(): void;
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}
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+
export declare class MavLinkTLogPacketSplitter extends MavLinkPacketSplitter {
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_transform(chunk: Buffer, encoding: string, callback: TransformCallback): void;
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protected findStartOfPacket(buffer: Buffer, offset?: number): number | null;
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}
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/**
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* A transform stream that takes a buffer with data and converts it to MavLinkPacket object
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*/
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@@ -1 +1 @@
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1
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-
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+
{"version":3,"file":"mavlink.d.ts","sourceRoot":"","sources":["../../lib/mavlink.ts"],"names":[],"mappings":";;AAAA,OAAO,EAAE,SAAS,EAAE,iBAAiB,EAAE,QAAQ,EAAE,QAAQ,EAAE,MAAM,QAAQ,CAAA;AAEzE,OAAO,EAAE,OAAO,EAAE,QAAQ,EAAU,MAAM,kBAAkB,CAAA;AAE5D,OAAO,EAAE,WAAW,EAAE,sBAAsB,EAAE,MAAM,kBAAkB,CAAA;AAGtE,OAAO,EAAE,MAAM,EAAE,MAAM,UAAU,CAAA;AAGjC;;GAEG;AACH,qBAAa,mBAAmB;IAC9B,SAAS,EAAE,MAAM,GAAG,IAAI,CAAO;IAC/B,KAAK,EAAE,MAAM,CAAI;IACjB,aAAa,EAAE,OAAO,CAAI;IAC1B,oBAAoB,EAAE,OAAO,CAAI;IACjC,kBAAkB,EAAE,OAAO,CAAI;IAC/B,GAAG,EAAE,OAAO,CAAI;IAChB,KAAK,EAAE,OAAO,CAAI;IAClB,MAAM,EAAE,OAAO,CAAI;IACnB,KAAK,EAAE,OAAO,CAAI;CACnB;AAED;;;;;GAKG;AACH,8BAAsB,eAAe;IACnC,SAAS,CAAC,QAAQ,CAAC,GAAG,SAAyB;IAE/C,MAAM,CAAC,IAAI,SAAY;IACvB,MAAM,CAAC,UAAU,SAAI;IACrB,MAAM,CAAC,cAAc,SAAI;IACzB,MAAM,CAAC,eAAe,SAAI;IAE1B,MAAM,CAAC,MAAM,EAAE,OAAO,CAAM;IAC5B,MAAM,CAAC,OAAO,EAAE,OAAO,CAAI;IAE3B;;OAEG;IACH,QAAQ,CAAC,SAAS,CAAC,OAAO,EAAE,WAAW,EAAE,GAAG,EAAE,OAAO,GAAG,MAAM;IAE9D;;OAEG;IACH,QAAQ,CAAC,MAAM,CAAC,MAAM,EAAE,MAAM,EAAE,SAAS,CAAC,EAAE,MAAM,GAAG,mBAAmB;IAExE;;OAEG;IACH,QAAQ,CAAC,GAAG,CAAC,MAAM,EAAE,MAAM,GAAG,QAAQ;IAEtC;;;;;;OAMG;IACH,QAAQ,CAAC,OAAO,CAAC,MAAM,EAAE,MAAM,GAAG,MAAM;IAExC;;OAEG;IACH,IAAI,CAAC,CAAC,SAAS,WAAW,EAAE,OAAO,EAAE,MAAM,EAAE,KAAK,EAAE,sBAAsB,CAAC,CAAC,CAAC,GAAG,CAAC;CAelF;AAgBD;;GAEG;AACH,qBAAa,iBAAkB,SAAQ,eAAe;IAM3C,KAAK,EAAE,OAAO;IACd,MAAM,EAAE,OAAO;IANxB,MAAM,CAAC,IAAI,SAAW;IACtB,MAAM,CAAC,UAAU,SAAO;IACxB,MAAM,CAAC,cAAc,SAAI;gBAGhB,KAAK,GAAE,OAAgC,EACvC,MAAM,GAAE,OAAiC;IAKlD,SAAS,CAAC,OAAO,EAAE,WAAW,EAAE,GAAG,EAAE,MAAM,GAAG,MAAM;IA6BpD,MAAM,CAAC,MAAM,EAAE,MAAM,EAAE,SAAS,CAAC,EAAE,MAAM,GAAG,mBAAmB;IAoB/D;;OAEG;IACH,GAAG,CAAC,MAAM,EAAE,MAAM,GAAG,QAAQ;IAO7B,OAAO,CAAC,MAAM,EAAE,MAAM,GAAG,MAAM;CAQhC;AAED;;GAEG;AACH,qBAAa,iBAAkB,SAAQ,eAAe;IAW3C,KAAK,EAAE,OAAO;IACd,MAAM,EAAE,OAAO;IACf,oBAAoB,EAAE,OAAO;IAC7B,kBAAkB,EAAE,OAAO;IAbpC,MAAM,CAAC,IAAI,SAAW;IACtB,MAAM,CAAC,UAAU,SAAO;IACxB,MAAM,CAAC,cAAc,SAAK;IAE1B,MAAM,CAAC,qBAAqB,EAAE,OAAO,CAAI;IACzC,MAAM,CAAC,mBAAmB,EAAE,OAAO,CAAI;IAEvC,MAAM,CAAC,QAAQ,CAAC,YAAY,KAAO;gBAG1B,KAAK,GAAE,OAAgC,EACvC,MAAM,GAAE,OAAiC,EACzC,oBAAoB,GAAE,OAAiD,EACvE,kBAAkB,GAAE,OAA+C;IAK5E,SAAS,CAAC,OAAO,EAAE,WAAW,EAAE,GAAG,EAAE,MAAM,GAAG,MAAM;IAkCpD;;;;;;;;OAQG;IACH,IAAI,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,GAAG,EAAE,MAAM,EAAE,SAAS,SAAa;IAgBxE,OAAO,CAAC,+BAA+B;IAcvC,MAAM,CAAC,MAAM,EAAE,MAAM,EAAE,SAAS,CAAC,EAAE,MAAM,GAAG,mBAAmB;IAsB/D;;OAEG;IACH,GAAG,CAAC,MAAM,EAAE,MAAM,GAAG,QAAQ;IAO7B,OAAO,CAAC,MAAM,EAAE,MAAM,GAAG,MAAM;IAS/B,SAAS,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,EAAE,mBAAmB,GAAG,sBAAsB,GAAG,IAAI;CAStF;AAUD;;GAEG;AACH,qBAAa,sBAAsB;IAerB,OAAO,CAAC,QAAQ,CAAC,MAAM;IAdnC,MAAM,CAAC,gBAAgB,SAAK;IAE5B;;;;;OAKG;IACH,MAAM,CAAC,GAAG,CAAC,UAAU,EAAE,MAAM;gBAMA,MAAM,EAAE,MAAM;IAE3C,OAAO,KAAK,MAAM,GAEjB;IAED;;OAEG;IACH,IAAI,MAAM,IAOQ,OAAO,CALxB;IAED;;OAEG;IACH,IAAI,MAAM,CAAC,KAAK,EAAE,OAAO,EAExB;IAED;;OAEG;IACH,IAAI,SAAS,IAOQ,MAAM,CAL1B;IAED;;OAEG;IACH,IAAI,SAAS,CAAC,KAAK,EAAE,MAAM,EAE1B;IAED;;OAEG;IACH,IAAI,SAAS,IAOQ,MAAM,CAL1B;IAED;;OAEG;IACH,IAAI,SAAS,CAAC,KAAK,EAAE,MAAM,EAE1B;IAED;;;;;;;OAOG;IACH,SAAS,CAAC,GAAG,EAAE,MAAM;IAUrB;;;;;;;OAOG;IACH,OAAO,CAAC,GAAG,EAAE,MAAM;IAInB,QAAQ;CAGT;AAED;;GAEG;AACH,qBAAa,aAAa;IAEtB,QAAQ,CAAC,MAAM,EAAE,MAAM;IACvB,QAAQ,CAAC,MAAM,EAAE,mBAAmB;IACpC,QAAQ,CAAC,OAAO,EAAE,MAAM;IACxB,QAAQ,CAAC,GAAG,EAAE,QAAQ;IACtB,QAAQ,CAAC,QAAQ,EAAE,eAAe;IAClC,QAAQ,CAAC,SAAS,EAAE,sBAAsB,GAAG,IAAI;gBALxC,MAAM,EAAE,MAAM,EACd,MAAM,GAAE,mBAA+C,EACvD,OAAO,GAAE,MAAyC,EAClD,GAAG,GAAE,QAAY,EACjB,QAAQ,GAAE,eAAyC,EACnD,SAAS,GAAE,sBAAsB,GAAG,IAAW;IAG1D;;;;OAIG;IACH,KAAK;IAiBL,OAAO,CAAC,iBAAiB;CAG1B;AAOD,aAAK,cAAc,GAAG,CAAC,MAAM,EAAE,MAAM,KAAK,IAAI,CAAA;AAE9C;;GAEG;AACH,qBAAa,qBAAsB,SAAQ,SAAS;IAClD,SAAS,CAAC,QAAQ,CAAC,GAAG,SAAyB;IAE/C,OAAO,CAAC,MAAM,CAAkB;IAChC,OAAO,CAAC,UAAU,CAA8B;IAChD,OAAO,CAAC,SAAS,CAAsB;IACvC,OAAO,CAAC,mBAAmB,CAAI;IAC/B,OAAO,CAAC,qBAAqB,CAAI;IACjC,OAAO,CAAC,qBAAqB,CAAI;IAEjC;;;;OAIG;gBACS,IAAI,KAAK,EAAE,UAAU,GAAE,cAAyB;IAK5D,UAAU,CAAC,KAAK,EAAE,MAAM,EAAE,QAAQ,EAAE,MAAM,EAAE,QAAQ,EAAE,iBAAiB;IA4EvE,SAAS,CAAC,iBAAiB,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,GAAE,MAAU;IAuB9D,OAAO,CAAC,iBAAiB;IAIzB,OAAO,CAAC,gBAAgB;IASxB,OAAO,CAAC,cAAc;IAoCtB;;;;OAIG;IACH,OAAO,CAAC,UAAU;IAQlB;;OAEG;IACH,IAAI,aAAa,WAEhB;IAED;;OAEG;IACH,uBAAuB;IAIvB;;OAEG;IACH,IAAI,eAAe,WAElB;IAED;;OAEG;IACH,yBAAyB;IAIzB;;OAEG;IACH,IAAI,oBAAoB,WAEvB;IAED;;OAEG;IACH,yBAAyB;CAG1B;AAED,qBAAa,yBAA0B,SAAQ,qBAAqB;IAClE,UAAU,CAAC,KAAK,EAAE,MAAM,EAAE,QAAQ,EAAE,MAAM,EAAE,QAAQ,EAAE,iBAAiB;IAIvE,SAAS,CAAC,iBAAiB,CAAC,MAAM,EAAE,MAAM,EAAE,MAAM,GAAE,MAAU;CAY/D;AAED;;GAEG;AACH,qBAAa,mBAAoB,SAAQ,SAAS;IAChD,SAAS,CAAC,QAAQ,CAAC,GAAG,SAAyB;gBAEnC,IAAI,KAAK;IAIrB,OAAO,CAAC,WAAW;IAYnB,UAAU,CAAC,EAAE,MAAwB,EAAE,SAAgB,EAAE,GAAG,IAAI,EAAE;;;iBAAK,EAAE,QAAQ,EAAE,MAAM,EAAE,QAAQ,EAAE,iBAAiB;CAavH;AAED;;;;GAIG;AACH,wBAAgB,mBAAmB,CAAC,KAAK,EAAE,QAAQ,EAAE,UAAU,EAAE,cAAc,uBAI9E;AAID;;;;;;;GAOG;AACH,wBAAsB,IAAI,CAAC,MAAM,EAAE,QAAQ,EAAE,GAAG,EAAE,WAAW,EAAE,QAAQ,GAAE,eAAyC,oBASjH;AAED;;;;;;;;;;;GAWG;AACH,wBAAsB,UAAU,CAC9B,MAAM,EAAE,QAAQ,EAChB,GAAG,EAAE,WAAW,EAChB,GAAG,EAAE,MAAM,EACX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package/dist/lib/mavlink.js
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"use strict";
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Object.defineProperty(exports, "__esModule", { value: true });
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exports.sendSigned = exports.send = exports.createMavLinkStream = exports.MavLinkPacketParser = exports.MavLinkPacketSplitter = exports.MavLinkPacket = exports.MavLinkPacketSignature = exports.MavLinkProtocolV2 = exports.MavLinkProtocolV1 = exports.MavLinkProtocol = exports.MavLinkPacketHeader = void 0;
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exports.sendSigned = exports.send = exports.createMavLinkStream = exports.MavLinkPacketParser = exports.MavLinkTLogPacketSplitter = exports.MavLinkPacketSplitter = exports.MavLinkPacket = exports.MavLinkPacketSignature = exports.MavLinkProtocolV2 = exports.MavLinkProtocolV1 = exports.MavLinkProtocol = exports.MavLinkPacketHeader = void 0;
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const stream_1 = require("stream");
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const crypto_1 = require("crypto");
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const mavlink_mappings_1 = require("mavlink-mappings");
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}
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callback(null);
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}
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findStartOfPacket(buffer) {
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const stxv1 = buffer.indexOf(MavLinkProtocolV1.START_BYTE);
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const stxv2 = buffer.indexOf(MavLinkProtocolV2.START_BYTE);
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findStartOfPacket(buffer, offset = 0) {
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const stxv1 = buffer.indexOf(MavLinkProtocolV1.START_BYTE, offset);
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const stxv2 = buffer.indexOf(MavLinkProtocolV2.START_BYTE, offset);
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494
|
if (stxv1 >= 0 && stxv2 >= 0) {
|
495
495
|
// in the current buffer both STX v1 and v2 are found - get the first one
|
496
496
|
if (stxv1 < stxv2) {
|
@@ -610,6 +610,28 @@ class MavLinkPacketSplitter extends stream_1.Transform {
|
|
610
610
|
}
|
611
611
|
}
|
612
612
|
exports.MavLinkPacketSplitter = MavLinkPacketSplitter;
|
613
|
+
class MavLinkTLogPacketSplitter extends MavLinkPacketSplitter {
|
614
|
+
_transform(chunk, encoding, callback) {
|
615
|
+
return super._transform(chunk, encoding, callback);
|
616
|
+
}
|
617
|
+
findStartOfPacket(buffer, offset = 0) {
|
618
|
+
// Finding the start of packet in TLog requires locating the start byte
|
619
|
+
// at an offset greater than
|
620
|
+
let offset1 = offset;
|
621
|
+
while (true) {
|
622
|
+
const start = super.findStartOfPacket(buffer, offset1);
|
623
|
+
if (start === null)
|
624
|
+
return null;
|
625
|
+
if (start < 8)
|
626
|
+
offset1 = start + 1;
|
627
|
+
else if (offset1 >= buffer.length - 1)
|
628
|
+
return null;
|
629
|
+
else
|
630
|
+
return start;
|
631
|
+
}
|
632
|
+
}
|
633
|
+
}
|
634
|
+
exports.MavLinkTLogPacketSplitter = MavLinkTLogPacketSplitter;
|
613
635
|
/**
|
614
636
|
* A transform stream that takes a buffer with data and converts it to MavLinkPacket object
|
615
637
|
*/
|
@@ -1,15 +1,24 @@
|
|
1
1
|
#!/usr/bin/env -S npx ts-node
|
2
2
|
|
3
3
|
import { createReadStream } from 'fs'
|
4
|
-
import {
|
4
|
+
import { Readable } from 'stream'
|
5
|
+
import { MavLinkTLogPacketSplitter, MavLinkPacketParser } from '..'
|
5
6
|
import {
|
6
7
|
minimal, common, ardupilotmega, uavionix, icarous,
|
7
8
|
asluav, development, ualberta,
|
8
9
|
} from '..'
|
9
10
|
|
10
|
-
const splitter = new
|
11
|
+
const splitter = new MavLinkTLogPacketSplitter()
|
11
12
|
const parser = new MavLinkPacketParser()
|
12
|
-
const file = createReadStream(__dirname + '/vtol.tlog')
|
13
|
+
// const file = createReadStream(__dirname + '/vtol.tlog')
|
14
|
+
|
15
|
+
// Example "dirty" stream containing a date that has the 0xFD protocol magic number in it
|
16
|
+
// and starts with 1 byte of garbage. Courtesy of emirkartal0 - thank you!
|
17
|
+
|
18
|
+
// @ts-ignore
|
19
|
+
const data = Buffer.from("b3 20 05 f1 fd 7a 1a c9 48 fd 10 20 20 eb 01 01 1e 20 20 20 20 20 20 95 7e 10 3d 0a 92 90 bb 88 f1 09 be d2 49 20 05 f1 fd 7a 1a f8 28 fd 19 20 20 ec 01 01 21 20 20 20 20 20 20 5c 96 f3 17 d2 29 dd 13 36 d8 0f 20 ee ff ff ff 20 20 20 20 03 6e f0 20 05 f1 fd 7a 1b f2 28 fd 1e 20 20 ed 01 01 18 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 20 58 20 9a 20 20 20 d3 40 05 0b 66 39".replaceAll(' ',''),"hex")
|
20
|
+
const file = Readable.from(data)
|
21
|
+
|
13
22
|
const reader = file.pipe(splitter).pipe(parser)
|
14
23
|
|
15
24
|
// create a registry of mappings between a message id and a data class
|
@@ -9,13 +9,19 @@ const REGISTRY: MavLinkPacketRegistry = {
|
|
9
9
|
...ardupilotmega.REGISTRY,
|
10
10
|
}
|
11
11
|
|
12
|
+
// This is how you could build a registry of all commands from different packages
|
13
|
+
const COMMANDS: common.MavLinkCommandRegistry = {
|
14
|
+
...common.COMMANDS,
|
15
|
+
...ardupilotmega.COMMANDS,
|
16
|
+
}
|
17
|
+
|
12
18
|
async function main() {
|
13
19
|
const port = new MavEsp8266()
|
14
20
|
|
15
21
|
// start the communication
|
16
22
|
// After this line we have received at least one heartbeat message so we
|
17
23
|
// know what is the remote IP address to send the messages to
|
18
|
-
const { ip, sendPort, receivePort } = await port.start()
|
24
|
+
const { ip, sendPort, receivePort } = await port.start(14551)
|
19
25
|
console.log(`Connected to: ${ip}, send port: ${sendPort}, receive port ${receivePort}`)
|
20
26
|
|
21
27
|
// log incomming messages
|
@@ -33,21 +39,18 @@ async function main() {
|
|
33
39
|
|
34
40
|
// You're now ready to send messages to the controller using the socket
|
35
41
|
// let's request the list of parameters
|
42
|
+
const cmdSetMode = new common.DoSetModeCommand()
|
43
|
+
cmdSetMode.mode = 1
|
44
|
+
cmdSetMode.customMode = ardupilotmega.CopterMode.DRIFT
|
36
45
|
|
37
|
-
|
38
|
-
cmdParamList.targetSystem = 1
|
39
|
-
cmdParamList.targetComponent = 1
|
40
|
-
|
41
|
-
// The send method is another utility method, very handy to have it provided
|
42
|
-
// by the library. It takes care of the sequence number and data serialization.
|
43
|
-
await port.send(cmdParamList)
|
46
|
+
await port.send(cmdSetMode)
|
44
47
|
|
45
|
-
//
|
46
|
-
const
|
47
|
-
|
48
|
-
cmdSetRelay.setting = 1
|
48
|
+
// Give the system time to process any incoming acknowledges
|
49
|
+
const sleep = (ms: number) => new Promise(resolve => setTimeout(resolve, ms))
|
50
|
+
await sleep(1000)
|
49
51
|
|
50
|
-
|
52
|
+
// Close communication
|
53
|
+
port.close()
|
51
54
|
}
|
52
55
|
|
53
56
|
main()
|
package/package.json
CHANGED
@@ -1,6 +1,6 @@
|
|
1
1
|
{
|
2
2
|
"name": "node-mavlink",
|
3
|
-
"version": "1.
|
3
|
+
"version": "1.5.0",
|
4
4
|
"author": "Matthias Hryniszak <padcom@gmail.com>",
|
5
5
|
"license": "LGPL",
|
6
6
|
"description": "MavLink definitions and parsing library",
|
@@ -22,7 +22,7 @@
|
|
22
22
|
"main": "dist/index.js",
|
23
23
|
"types": "dist/index.d.ts",
|
24
24
|
"dependencies": {
|
25
|
-
"mavlink-mappings": "^1.0.13-20230115"
|
25
|
+
"mavlink-mappings": "^1.0.13-20230115-3"
|
26
26
|
},
|
27
27
|
"scripts": {
|
28
28
|
"clean": "rm -rf dist lib/*.js",
|