node-mavlink 1.5.1 → 2.0.0-alpha.0

package/README.md

@@ -75,7 +75,7 @@ import { MavLinkProtocolV2, send } from 'node-mavlink'
 // By convention the intermediate fields that are then serialized
 // are named with `_` (underscore) prefix and should not be used
 // directly. That doesn't mean you can't use them, but if there
-// is a equivalend Command class it is just a lot easier and every
+// is an equivalent Command class it is just a lot easier and every
 // parameter not only has a more descriptive names but also in-line
 // documentation.
 const command = new common.RequestProtocolVersionCommand()
@@ -128,7 +128,7 @@ async function main() {
   // start the communication
   await port.start()
 
-  // log incomming packets
+  // log incoming packets
   port.on('data', packet => {
     console.log(packet.debug())
   })
@@ -151,7 +151,7 @@ That's it! Easy as a lion :)
 
 ## Signed packages
 
-MavLink v2 introduces package signing. The way it currently works with Mission planner is you give it a pass phrase, Mission Planner encodes it using sha256 hashing algorithm and uses it as part of the signature calculation. Therefore if someone does not know the secret passphrase they won't be able to create packets that would seem to be comming from a source. It's a kind of security thing.
+MavLink v2 introduces package signing. The way it currently works with Mission planner is you give it a pass phrase, Mission Planner encodes it using sha256 hashing algorithm and uses it as part of the signature calculation. Therefore if someone does not know the secret passphrase they won't be able to create packets that would seem to be coming from a source. It's a kind of security thing.
 
 ### Reading signature
 
@@ -163,7 +163,7 @@ import { MavLinkPacketSignature } from 'node-mavlink'
 // calculate secret key (change 'qwerty' to your secret phrase)
 const key = MavLinkPacketSignature.key('qwerty')
 
-// log incomming messages
+// log incoming messages
 port.on('data', packet => {
   console.log(packet.debug())
   if (packet.signature) {
@@ -218,7 +218,7 @@ This function calls the `cb` callback periodically at the `interval` (default: 1
 
 #### `async send(stream: Writable, msg: MavLinkData, protocol: MavLinkProtocol)`
 
-This function serializes the `msg` message using the provided `protocol` (default: `MavLinkProtocolV1`) and sends it to the `stream`. If the process is successful the method returns with the length of written data denoting that no error occured. However, if the process was not successful it will error out with the underlying error object returned on by the stream.
+This function serializes the `msg` message using the provided `protocol` (default: `MavLinkProtocolV1`) and sends it to the `stream`. If the process is successful the method returns with the length of written data denoting that no error occurred. However, if the process was not successful it will error out with the underlying error object returned on by the stream.
 
 #### `async sendSigned(stream: Writable, msg: MavLinkData, key: Buffer, linkId: uint8_t, sysid: uint8_t, compid: uint8_t)`
 
@@ -235,7 +235,7 @@ This is a very handy utility function that asynchronously pauses for a given tim
 
 ## Running sim_vehicle.py
 
-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:
+The easiest way to start playing around with this package is to use `sim_vehicle.py`. You can use the default parameters for the MavEsp8266 if you'll make the simulator compatible with it:
 
 ```
 $ Tools/autotest/sim_vehicle.py -v ArduCopter -f quad --console --map --out udpin:127.0.0.1:14555
@@ -249,7 +249,7 @@ The original generated sources lack one very important aspect of a reusable libr
 
 When generating sources for data classes a number of things happen:
 
-- `enum` values are trimmed from common prefix; duplicating enum name in its value when its value cannot be spelled without the enum name is pointless and leads to unnecessairly vebose code
+- `enum` values are trimmed from common prefix; duplicating enum name in its value when its value cannot be spelled without the enum name is pointless and leads to unnecessarily verbose code
 - enum values, whenever available, contain JSDoc describing their purpose
 - data classes are properly named (PascalCase)
 - data classes fields are properly named (camelCase)
@@ -259,6 +259,6 @@ When generating sources for data classes a number of things happen:
 
 This leads to generated code that contains not only raw types but also documentation where it is mostly useful: right at your fingertips.
 
-I hope you'll enjoy using this library! If you have any comments, find a bug or just generally want to share your thoughts you can reach me via emial: padcom@gmail.com
+I hope you'll enjoy using this library! If you have any comments, find a bug or just generally want to share your thoughts you can reach me via email: padcom@gmail.com
 
 Peace!

package/dist/index.d.ts

@@ -1,4 +1,5 @@
 export * from 'mavlink-mappings';
+export * from './lib/magic-numbers';
 export * from './lib/utils';
 export * from './lib/logger';
 export * from './lib/mavlink';

package/dist/index.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../index.ts"],"names":[],"mappings":"AAAA,cAAc,kBAAkB,CAAA;AAChC,cAAc,aAAa,CAAA;AAC3B,cAAc,cAAc,CAAA;AAC5B,cAAc,eAAe,CAAA;AAC7B,cAAc,cAAc,CAAA"}
+{"version":3,"file":"index.d.ts","sourceRoot":"","sources":["../index.ts"],"names":[],"mappings":"AAAA,cAAc,kBAAkB,CAAA;AAChC,cAAc,qBAAqB,CAAA;AACnC,cAAc,aAAa,CAAA;AAC3B,cAAc,cAAc,CAAA;AAC5B,cAAc,eAAe,CAAA;AAC7B,cAAc,cAAc,CAAA"}

package/dist/index.js

@@ -15,6 +15,7 @@ var __exportStar = (this && this.__exportStar) || function(m, exports) {
 };
 Object.defineProperty(exports, "__esModule", { value: true });
 __exportStar(require("mavlink-mappings"), exports);
+__exportStar(require("./lib/magic-numbers"), exports);
 __exportStar(require("./lib/utils"), exports);
 __exportStar(require("./lib/logger"), exports);
 __exportStar(require("./lib/mavlink"), exports);

package/dist/lib/magic-numbers.d.ts

@@ -0,0 +1,3 @@
+export declare function registerCustomMessageMagicNumber(msgid: string, magic: number): void;
+export declare function overrideMessageMagicNumber(msgid: string, magic: number): void;
+//# sourceMappingURL=magic-numbers.d.ts.map

package/dist/lib/magic-numbers.d.ts.map

@@ -0,0 +1 @@
+{"version":3,"file":"magic-numbers.d.ts","sourceRoot":"","sources":["../../lib/magic-numbers.ts"],"names":[],"mappings":"AAEA,wBAAgB,gCAAgC,CAAC,KAAK,EAAE,MAAM,EAAE,KAAK,EAAE,MAAM,QAO5E;AAED,wBAAgB,0BAA0B,CAAC,KAAK,EAAE,MAAM,EAAE,KAAK,EAAE,MAAM,QAOtE"}

package/dist/lib/magic-numbers.js

@@ -0,0 +1,24 @@
+"use strict";
+Object.defineProperty(exports, "__esModule", { value: true });
+exports.overrideMessageMagicNumber = exports.registerCustomMessageMagicNumber = void 0;
+const mavlink_mappings_1 = require("mavlink-mappings");
+function registerCustomMessageMagicNumber(msgid, magic) {
+    const numbers = mavlink_mappings_1.MSG_ID_MAGIC_NUMBER;
+    if (numbers[msgid] !== undefined) {
+        throw new Error(`Magic number for message "${msgid}" already registered`);
+    }
+    else {
+        numbers[msgid] = magic;
+    }
+}
+exports.registerCustomMessageMagicNumber = registerCustomMessageMagicNumber;
+function overrideMessageMagicNumber(msgid, magic) {
+    const numbers = mavlink_mappings_1.MSG_ID_MAGIC_NUMBER;
+    if (numbers[msgid] === undefined) {
+        throw new Error(`Magic number for message "${msgid}" not registered`);
+    }
+    else {
+        numbers[msgid] = magic;
+    }
+}
+exports.overrideMessageMagicNumber = overrideMessageMagicNumber;

package/dist/lib/mavesp.d.ts

@@ -1,6 +1,7 @@
 /// <reference types="node" />
 /// <reference types="node" />
 import { EventEmitter } from 'events';
+import { MavLinkPacketSplitter, MavLinkPacketParser } from './mavlink';
 import { uint8_t, MavLinkData } from 'mavlink-mappings';
 export interface ConnectionInfo {
     ip: string;
@@ -16,9 +17,16 @@ export declare class MavEsp8266 extends EventEmitter {
     private ip;
     private sendPort;
     private seq;
-    constructor();
     /**
-     * Start communication with the controller via MAVESP2866
+     * @param splitter packet splitter instance
+     * @param parser packet parser instance
+     */
+    constructor({ splitter, parser, }?: {
+        splitter?: MavLinkPacketSplitter | undefined;
+        parser?: MavLinkPacketParser | undefined;
+    });
+    /**
+     * Start communication with the controller via MAVESP8266
      *
      * @param receivePort port to receive messages on (default: 14550)
      * @param sendPort port to send messages to (default: 14555)
@@ -51,7 +59,7 @@ export declare class MavEsp8266 extends EventEmitter {
      * @param buffer buffer to send
      */
     sendBuffer(buffer: Buffer): Promise<number>;
-    private processIncommingUDPData;
-    private processIncommingPacket;
+    private processIncomingUDPData;
+    private processIncomingPacket;
 }
 //# sourceMappingURL=mavesp.d.ts.map

package/dist/lib/mavesp.d.ts.map

@@ -1 +1 @@
-{"version":3,"file":"mavesp.d.ts","sourceRoot":"","sources":["../../lib/mavesp.ts"],"names":[],"mappings":";;AAAA,OAAO,EAAE,YAAY,EAAE,MAAM,QAAQ,CAAA;AAOrC,OAAO,EAAE,OAAO,EAAE,WAAW,EAAE,MAAM,kBAAkB,CAAA;AAEvD,MAAM,WAAW,cAAc;IAC7B,EAAE,EAAE,MAAM,CAAA;IACV,QAAQ,EAAE,MAAM,CAAA;IAChB,WAAW,EAAE,MAAM,CAAA;CACpB;AAED;;GAEG;AACH,qBAAa,UAAW,SAAQ,YAAY;IAC1C,OAAO,CAAC,KAAK,CAAU;IACvB,OAAO,CAAC,MAAM,CAAC,CAAQ;IACvB,OAAO,CAAC,EAAE,CAAa;IACvB,OAAO,CAAC,QAAQ,CAAgB;IAChC,OAAO,CAAC,GAAG,CAAY;;IAmBvB;;;;;OAKG;IACG,KAAK,CAAC,WAAW,GAAE,MAAc,EAAE,QAAQ,GAAE,MAAc,GAAG,OAAO,CAAC,cAAc,CAAC;IAmB3F;;OAEG;IACG,KAAK,IAAI,OAAO,CAAC,IAAI,CAAC;IAY5B;;;;;;OAMG;IACG,IAAI,CAAC,GAAG,EAAE,WAAW,EAAE,KAAK,GAAE,OAAgC,EAAE,MAAM,GAAE,OAAiC,GAAG,OAAO,CAAC,MAAM,CAAC;IAOjI;;;;;;;OAOG;IACG,UAAU,CAAC,GAAG,EAAE,WAAW,EAAE,GAAG,EAAE,MAAM,EAAE,MAAM,GAAE,OAAW,EAAE,KAAK,GAAE,OAAgC,EAAE,MAAM,GAAE,OAAiC,GAAG,OAAO,CAAC,MAAM,CAAC;IAQzK;;;;OAIG;IACG,UAAU,CAAC,MAAM,EAAE,MAAM,GAAG,OAAO,CAAC,MAAM,CAAC;IASjD,OAAO,CAAC,uBAAuB;IAO/B,OAAO,CAAC,sBAAsB;CAI/B"}
+{"version":3,"file":"mavesp.d.ts","sourceRoot":"","sources":["../../lib/mavesp.ts"],"names":[],"mappings":";;AAAA,OAAO,EAAE,YAAY,EAAE,MAAM,QAAQ,CAAA;AAIrC,OAAO,EAAE,qBAAqB,EAAE,mBAAmB,EAA0B,MAAM,WAAW,CAAA;AAG9F,OAAO,EAAE,OAAO,EAAE,WAAW,EAAE,MAAM,kBAAkB,CAAA;AAEvD,MAAM,WAAW,cAAc;IAC7B,EAAE,EAAE,MAAM,CAAA;IACV,QAAQ,EAAE,MAAM,CAAA;IAChB,WAAW,EAAE,MAAM,CAAA;CACpB;AAED;;GAEG;AACH,qBAAa,UAAW,SAAQ,YAAY;IAC1C,OAAO,CAAC,KAAK,CAAU;IACvB,OAAO,CAAC,MAAM,CAAC,CAAQ;IACvB,OAAO,CAAC,EAAE,CAAa;IACvB,OAAO,CAAC,QAAQ,CAAgB;IAChC,OAAO,CAAC,GAAG,CAAY;IAEvB;;;OAGG;gBACS,EACV,QAAsC,EACtC,MAAkC,GACnC;;;KAAK;IAiBN;;;;;OAKG;IACG,KAAK,CAAC,WAAW,GAAE,MAAc,EAAE,QAAQ,GAAE,MAAc,GAAG,OAAO,CAAC,cAAc,CAAC;IAmB3F;;OAEG;IACG,KAAK,IAAI,OAAO,CAAC,IAAI,CAAC;IAY5B;;;;;;OAMG;IACG,IAAI,CAAC,GAAG,EAAE,WAAW,EAAE,KAAK,GAAE,OAAgC,EAAE,MAAM,GAAE,OAAiC,GAAG,OAAO,CAAC,MAAM,CAAC;IAOjI;;;;;;;OAOG;IACG,UAAU,CAAC,GAAG,EAAE,WAAW,EAAE,GAAG,EAAE,MAAM,EAAE,MAAM,GAAE,OAAW,EAAE,KAAK,GAAE,OAAgC,EAAE,MAAM,GAAE,OAAiC,GAAG,OAAO,CAAC,MAAM,CAAC;IAQzK;;;;OAIG;IACG,UAAU,CAAC,MAAM,EAAE,MAAM,GAAG,OAAO,CAAC,MAAM,CAAC;IASjD,OAAO,CAAC,sBAAsB;IAO9B,OAAO,CAAC,qBAAqB;CAI9B"}

package/dist/lib/mavesp.js

@@ -16,20 +16,24 @@ class MavEsp8266 extends events_1.EventEmitter {
     ip = '';
     sendPort = 14555;
     seq = 0;
-    constructor() {
+    /**
+     * @param splitter packet splitter instance
+     * @param parser packet parser instance
+     */
+    constructor({ splitter = new mavlink_1.MavLinkPacketSplitter(), parser = new mavlink_1.MavLinkPacketParser(), } = {}) {
         super();
         this.input = new stream_1.PassThrough();
-        this.processIncommingUDPData = this.processIncommingUDPData.bind(this);
-        this.processIncommingPacket = this.processIncommingPacket.bind(this);
+        this.processIncomingUDPData = this.processIncomingUDPData.bind(this);
+        this.processIncomingPacket = this.processIncomingPacket.bind(this);
         // Create the reader as usual by piping the source stream through the splitter
         // and packet parser
         const reader = this.input
-            .pipe(new mavlink_1.MavLinkPacketSplitter())
-            .pipe(new mavlink_1.MavLinkPacketParser());
-        reader.on('data', this.processIncommingPacket);
+            .pipe(splitter)
+            .pipe(parser);
+        reader.on('data', this.processIncomingPacket);
     }
     /**
-     * Start communication with the controller via MAVESP2866
+     * Start communication with the controller via MAVESP8266
      *
      * @param receivePort port to receive messages on (default: 14550)
      * @param sendPort port to send messages to (default: 14555)
@@ -38,7 +42,7 @@ class MavEsp8266 extends events_1.EventEmitter {
         this.sendPort = sendPort;
         // Create a UDP socket
         this.socket = (0, dgram_1.createSocket)({ type: 'udp4', reuseAddr: true });
-        this.socket.on('message', this.processIncommingUDPData);
+        this.socket.on('message', this.processIncomingUDPData);
         // Start listening on the socket
         return new Promise((resolve, reject) => {
             this.socket?.bind(receivePort, () => {
@@ -57,7 +61,7 @@ class MavEsp8266 extends events_1.EventEmitter {
         if (!this.socket)
             throw new Error('Not connected');
         // Unregister event handlers
-        this.socket.off('message', this.processIncommingUDPData);
+        this.socket.off('message', this.processIncomingUDPData);
         // Close the socket
         return new Promise(resolve => {
             this.socket?.close(resolve);
@@ -106,14 +110,14 @@ class MavEsp8266 extends events_1.EventEmitter {
             });
         });
     }
-    processIncommingUDPData(buffer, metadata) {
+    processIncomingUDPData(buffer, metadata) {
         // store the remote ip address
         if (this.ip === '')
             this.ip = metadata.address;
         // pass on the data to the input stream
         this.input.write(buffer);
     }
-    processIncommingPacket(packet) {
+    processIncomingPacket(packet) {
         // let the user know we received the packet
         this.emit('data', packet);
     }

package/dist/lib/mavlink.d.ts

@@ -190,12 +190,13 @@ export declare class MavLinkPacket {
 }
 declare type BufferCallback = (buffer: Buffer) => void;
 /**
- * A transform stream that splits the incomming data stream into chunks containing full MavLink messages
+ * A transform stream that splits the incoming data stream into chunks containing full MavLink messages
  */
 export declare class MavLinkPacketSplitter extends Transform {
     protected readonly log: Logger;
     private buffer;
     private onCrcError;
+    private readonly magicNumbers;
     private timestamp;
     private _validPackagesCount;
     private _unknownPackagesCount;
@@ -205,7 +206,10 @@ export declare class MavLinkPacketSplitter extends Transform {
      * @param verbose print diagnostic information
      * @param onCrcError callback executed if there is a CRC error (mostly for debugging)
      */
-    constructor(opts?: {}, onCrcError?: BufferCallback);
+    constructor(opts?: {}, { onCrcError, magicNumbers }?: {
+        onCrcError?: BufferCallback;
+        magicNumbers?: Record<string, number>;
+    });
     _transform(chunk: Buffer, encoding: string, callback: TransformCallback): void;
     protected findStartOfPacket(buffer: Buffer, offset?: number): number | null;
     private getPacketProtocol;
@@ -263,7 +267,10 @@ export declare class MavLinkPacketParser extends Transform {
  *
  * @param input input stream to read from
  */
-export declare function createMavLinkStream(input: Readable, onCrcError: BufferCallback): MavLinkPacketParser;
+export declare function createMavLinkStream(input: Readable, { onCrcError, magicNumbers }?: {
+    onCrcError?: BufferCallback;
+    magicNumbers?: Record<string, number>;
+}): MavLinkPacketParser;
 /**
  * Send a packet to the stream
  *

package/dist/lib/mavlink.d.ts.map

@@ -1 +1 @@
-{"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,MAAM,GAAE,OAAW,EAAE,KAAK,GAAE,OAAgC,EAAE,MAAM,GAAE,OAAiC,EACvG,SAAS,SAAa,oBAYvB"}
+{"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,QAAQ,CAAC,YAAY,CAAwB;IACrD,OAAO,CAAC,SAAS,CAAsB;IACvC,OAAO,CAAC,mBAAmB,CAAI;IAC/B,OAAO,CAAC,qBAAqB,CAAI;IACjC,OAAO,CAAC,qBAAqB,CAAI;IAEjC;;;;OAIG;gBAED,IAAI,KAAK,EACT,EACE,UAAsB,EACtB,YAAkC,EACnC,GAAE;QACD,UAAU,CAAC,EAAE,cAAc,CAAC;QAC5B,YAAY,CAAC,EAAE,MAAM,CAAC,MAAM,EAAE,MAAM,CAAC,CAAA;KACjC;IAOR,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;IAmCtB;;;;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,EACnD,UAAU,EACV,YAAY,EACb,GAAE;IACD,UAAU,CAAC,EAAE,cAAc,CAAC;IAC5B,YAAY,CAAC,EAAE,MAAM,CAAC,MAAM,EAAE,MAAM,CAAC,CAAA;CACjC,uBAIL;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,MAAM,GAAE,OAAW,EAAE,KAAK,GAAE,OAAgC,EAAE,MAAM,GAAE,OAAiC,EACvG,SAAS,SAAa,oBAYvB"}

package/dist/lib/mavlink.js

@@ -402,12 +402,13 @@ var PacketValidationResult;
     PacketValidationResult[PacketValidationResult["UNKNOWN"] = 2] = "UNKNOWN";
 })(PacketValidationResult || (PacketValidationResult = {}));
 /**
- * A transform stream that splits the incomming data stream into chunks containing full MavLink messages
+ * A transform stream that splits the incoming data stream into chunks containing full MavLink messages
  */
 class MavLinkPacketSplitter extends stream_1.Transform {
     log = logger_1.Logger.getLogger(this);
     buffer = Buffer.from([]);
     onCrcError = null;
+    magicNumbers;
     timestamp = null;
     _validPackagesCount = 0;
     _unknownPackagesCount = 0;
@@ -417,9 +418,10 @@ class MavLinkPacketSplitter extends stream_1.Transform {
      * @param verbose print diagnostic information
      * @param onCrcError callback executed if there is a CRC error (mostly for debugging)
      */
-    constructor(opts = {}, onCrcError = () => { }) {
+    constructor(opts = {}, { onCrcError = () => { }, magicNumbers = mavlink_mappings_2.MSG_ID_MAGIC_NUMBER } = {}) {
         super({ ...opts, objectMode: true });
         this.onCrcError = onCrcError;
+        this.magicNumbers = magicNumbers;
     }
     _transform(chunk, encoding, callback) {
         this.buffer = Buffer.concat([this.buffer, chunk]);
@@ -444,7 +446,7 @@ class MavLinkPacketSplitter extends stream_1.Transform {
             // get protocol this buffer is encoded with
             const Protocol = this.getPacketProtocol(this.buffer);
             this.log.debug('Packet protocol is', Protocol.NAME);
-            // check if the buffer contains at least the minumum size of data
+            // check if the buffer contains at least the minimum size of data
             if (this.buffer.length < Protocol.PAYLOAD_OFFSET + MavLinkProtocol.CHECKSUM_LENGTH) {
                 // current buffer shorter than the shortest message - skipping
                 this.log.debug('Current buffer shorter than the shortest message - skipping');
@@ -527,8 +529,7 @@ class MavLinkPacketSplitter extends stream_1.Transform {
     validatePacket(buffer, Protocol) {
         const protocol = new Protocol();
         const header = protocol.header(buffer);
-        // @ts-ignore
-        const magic = mavlink_mappings_2.MSG_ID_MAGIC_NUMBER[header.msgid];
+        const magic = this.magicNumbers[header.msgid];
         if (magic) {
             const crc = protocol.crc(buffer);
             const trim = this.isV2Signed(buffer)
@@ -669,9 +670,9 @@ exports.MavLinkPacketParser = MavLinkPacketParser;
  *
  * @param input input stream to read from
  */
-function createMavLinkStream(input, onCrcError) {
+function createMavLinkStream(input, { onCrcError, magicNumbers } = {}) {
     return input
-        .pipe(new MavLinkPacketSplitter({}, onCrcError))
+        .pipe(new MavLinkPacketSplitter({}, { onCrcError, magicNumbers }))
         .pipe(new MavLinkPacketParser());
 }
 exports.createMavLinkStream = createMavLinkStream;

package/dist/lib/utils.d.ts

@@ -1,6 +1,6 @@
 /// <reference types="node" />
 /**
- * Convert a number to hexadecimal representation with a minumum
+ * Convert a number to hexadecimal representation with a minimum
  * number of characters and optional prefix (0x by default)
  *
  * @param n value to convert
@@ -16,9 +16,9 @@ export declare function hex(n: number, len?: number, prefix?: string): string;
  */
 export declare function dump(buffer: Buffer, lineWidth?: number): void;
 /**
- * Sleep for a given number of miliseconds
+ * Sleep for a given number of milliseconds
  *
- * @param {number} ms of miliseconds to sleep
+ * @param {number} ms of milliseconds to sleep
  */
 export declare function sleep(ms: number): Promise<unknown>;
 /**
@@ -29,8 +29,8 @@ export declare function sleep(ms: number): Promise<unknown>;
  * the execution without success. Great for time-sensitive operations.
  *
  * @param cb callback to call every <code>interval</code>ms. Waiting stops if the callback returns a truthy value.
- * @param timeout number of miliseconds that need to pass before the Timeout exception is thrown
- * @param interval number of miliseconds before re-running the callback
+ * @param timeout number of milliseconds that need to pass before the Timeout exception is thrown
+ * @param interval number of milliseconds before re-running the callback
  */
 export declare function waitFor<T>(cb: () => T, timeout?: number, interval?: number): Promise<T>;
 //# sourceMappingURL=utils.d.ts.map

package/dist/lib/utils.js

@@ -2,7 +2,7 @@
 Object.defineProperty(exports, "__esModule", { value: true });
 exports.waitFor = exports.sleep = exports.dump = exports.hex = void 0;
 /**
- * Convert a number to hexadecimal representation with a minumum
+ * Convert a number to hexadecimal representation with a minimum
  * number of characters and optional prefix (0x by default)
  *
  * @param n value to convert
@@ -36,9 +36,9 @@ function dump(buffer, lineWidth = 16) {
 }
 exports.dump = dump;
 /**
- * Sleep for a given number of miliseconds
+ * Sleep for a given number of milliseconds
  *
- * @param {number} ms of miliseconds to sleep
+ * @param {number} ms of milliseconds to sleep
  */
 function sleep(ms) {
     return new Promise(resolve => setTimeout(resolve, ms));
@@ -52,8 +52,8 @@ exports.sleep = sleep;
  * the execution without success. Great for time-sensitive operations.
  *
  * @param cb callback to call every <code>interval</code>ms. Waiting stops if the callback returns a truthy value.
- * @param timeout number of miliseconds that need to pass before the Timeout exception is thrown
- * @param interval number of miliseconds before re-running the callback
+ * @param timeout number of milliseconds that need to pass before the Timeout exception is thrown
+ * @param interval number of milliseconds before re-running the callback
  */
 async function waitFor(cb, timeout = 10000, interval = 100) {
     return new Promise((resolve, reject) => {

package/examples/pool-param-udp.ts

@@ -9,9 +9,10 @@ async function main() {
   // start the communication
   // After this line we have received at least one heartbeat message so we
   // know what is the remote IP address to send the messages to
-  await port.start()
+  const { ip, sendPort, receivePort } = await port.start()
+  console.log(`Connected to: ${ip}, send port: ${sendPort}, receive port ${receivePort}`)
 
-  // log incomming messages
+  // log incoming messages
   port.on('data', (packet: MavLinkPacket) => {
     if (packet.header.msgid === common.ParamValue.MSG_ID) {
       const value = packet.protocol.data(packet.payload, common.ParamValue)

package/examples/send-receive-file.ts

@@ -7,6 +7,11 @@ import {
   asluav, development, ualberta,
 } from '..'
 
+//
+// Example how to register your own magic numbers:
+//
+// const splitter = new MavLinkPacketSplitter({}, { magicNumbers: { '0': 50 } })
+//
 const splitter = new MavLinkPacketSplitter()
 const parser = new MavLinkPacketParser()
 const file = createReadStream(__dirname + '/GH-5.bin')

package/examples/send-receive-signed-udp.ts

@@ -19,7 +19,7 @@ async function main() {
   const { ip, sendPort, receivePort } = await port.start()
   console.log(`Connected to: ${ip}, send port: ${sendPort}, receive port ${receivePort}`)
 
-  // log incomming messages
+  // log incoming messages
   port.on('data', (packet: MavLinkPacket) => {
     if (packet.signature) {
       if (packet.signature.matches(key)) {

package/examples/send-receive-udp.ts

@@ -21,10 +21,10 @@ async function main() {
   // start the communication
   // After this line we have received at least one heartbeat message so we
   // know what is the remote IP address to send the messages to
-  const { ip, sendPort, receivePort } = await port.start(14551)
+  const { ip, sendPort, receivePort } = await port.start()
   console.log(`Connected to: ${ip}, send port: ${sendPort}, receive port ${receivePort}`)
 
-  // log incomming messages
+  // log incoming messages
   port.on('data', (packet: MavLinkPacket) => {
     const clazz = REGISTRY[packet.header.msgid]
     if (clazz) {
@@ -44,7 +44,7 @@ async function main() {
   // By convention the intermediate fields that are then serialized
   // are named with `_` (underscore) prefix and should not be used
   // directly. That doesn't mean you can't use them, but if there
-  // is a equivalend Command class it is just a lot easier and every
+  // is an equivalent Command class it is just a lot easier and every
   // parameter not only has a more descriptive names but also in-line
   // documentation.
   const command = new common.RequestProtocolVersionCommand()

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "node-mavlink",
-  "version": "1.5.1",
+  "version": "2.0.0-alpha.0",
   "author": "Matthias Hryniszak <padcom@gmail.com>",
   "license": "LGPL",
   "description": "MavLink definitions and parsing library",
@@ -22,7 +22,7 @@
   "main": "dist/index.js",
   "types": "dist/index.d.ts",
   "dependencies": {
-    "mavlink-mappings": "^1.0.13-20230115-3"
+    "mavlink-mappings": "^1.0.15-20230328-0"
   },
   "scripts": {
     "clean": "rm -rf dist lib/*.js",
@@ -49,4 +49,4 @@
     "xml2js": "^0.4.23",
     "yargs": "^17.3.1"
   }
-}
+}