node-mavlink 2.0.0-alpha.0 → 2.0.0-alpha.1
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- package/README.md +45 -0
- package/dist/lib/mavlink.d.ts +1 -0
- package/dist/lib/mavlink.d.ts.map +1 -1
- package/dist/lib/mavlink.js +4 -5
- package/examples/send-receive-serial.ts +3 -0
- package/package.json +1 -1
package/README.md
CHANGED
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@@ -243,6 +243,51 @@ $ Tools/autotest/sim_vehicle.py -v ArduCopter -f quad --console --map --out udpi
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243
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244
244
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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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245
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+
## Registering custom messages
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+
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+
There are times when you want to have custom messages, for example when you're building a rocket and there is no target you can use out of the box. There are actually two scenarios:
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249
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+
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250
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+
1. You have a few custom messages, but generally you're happy with the original set of messages
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251
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+
2. You don't care about the original messages, maybe you do about the heartbeat, but nothing else
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252
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+
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253
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+
### Registering a single command
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254
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+
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255
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+
There are 3 steps to register a custom command:
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256
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+
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257
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+
a) create a class that defines your custom command
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258
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+
b) add it to your `REGISTRY`
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259
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+
c) register your custom command's magic number
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260
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+
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261
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+
The first two steps are pretty self explanatory and there is a plethora of examples in the mavlink-mappings project - use those to learn how to create your own message definitions.
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+
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+
The last step is quite easy:
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264
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+
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+
```javascript
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266
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+
import { registerCustomMessageMagicNumber } from 'node-mavlink'
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267
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+
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268
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+
registerCustomMessageMagicNumber('999999': 42)
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+
```
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270
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+
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271
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+
From now on the splitter will know how to properly calculate CRC for your packages and you're all good.
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+
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### Replacing magic numbers registry all together
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+
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275
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+
Well, if all you care about is the ping, why parse anything else, right? And if on top of the ping command you've got a number of custom messages - all the better to not parse even the messages!
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+
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+
```javascript
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+
import { MavLinkSplitter, MavLinkParser } from 'node-mavlink'
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279
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+
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280
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+
const MY_MAGIC_NUMBERS = {
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'0': 50, // Heartbeat
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282
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+
// ...other magic number definitions go here
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+
}
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+
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285
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+
const source = ... // obtain source stream
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286
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+
const reader = source
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287
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+
.pipe(new MavLinkPacketSplitter({}, { magicNumbers: MY_MAGIC_NUMBERS }))
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288
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+
.pipe(new MavLinkPacketParser())
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+
```
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+
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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
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@@ -1 +1 @@
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1
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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;
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1
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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,IAAI,IAAI,IAAI,MAAM,CAEjB;IAED;;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;IAmB/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;IAcL,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"}
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package/dist/lib/mavlink.js
CHANGED
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@@ -37,6 +37,9 @@ class MavLinkProtocol {
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37
37
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static CHECKSUM_LENGTH = 2;
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38
38
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static SYS_ID = 254;
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|
39
39
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static COMP_ID = 1;
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|
40
|
+
get name() {
|
|
41
|
+
return this.constructor.NAME;
|
|
42
|
+
}
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|
40
43
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/**
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|
41
44
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* Deserialize payload into actual data class
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|
42
45
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*/
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@@ -101,7 +104,6 @@ class MavLinkProtocolV1 extends MavLinkProtocol {
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|
|
101
104
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}
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|
102
105
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const result = new MavLinkPacketHeader();
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|
103
106
|
result.timestamp = timestamp || null;
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|
104
|
-
result.magic = startByte;
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|
105
107
|
result.payloadLength = buffer.readUInt8(1);
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|
106
108
|
result.seq = buffer.readUInt8(2);
|
|
107
109
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result.sysid = buffer.readUInt8(3);
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@@ -374,16 +376,13 @@ class MavLinkPacket {
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374
376
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debug() {
|
|
375
377
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return 'Packet ('
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|
376
378
|
// @ts-ignore
|
|
377
|
-
+ `proto: ${this.protocol.
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|
379
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+
+ `proto: ${this.protocol.name}, `
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|
378
380
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+ `sysid: ${this.header.sysid}, `
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379
381
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+ `compid: ${this.header.compid}, `
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|
380
382
|
+ `msgid: ${this.header.msgid}, `
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|
381
383
|
+ `seq: ${this.header.seq}, `
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382
384
|
+ `plen: ${this.header.payloadLength}, `
|
|
383
|
-
// @ts-ignore
|
|
384
|
-
+ `magic: ${mavlink_mappings_2.MSG_ID_MAGIC_NUMBER[this.header.msgid]} (${(0, utils_1.hex)(mavlink_mappings_2.MSG_ID_MAGIC_NUMBER[this.header.msgid])}), `
|
|
385
385
|
+ `crc: ${(0, utils_1.hex)(this.crc, 4)}`
|
|
386
|
-
// @ts-ignore
|
|
387
386
|
+ this.signatureToString(this.signature)
|
|
388
387
|
+ ')';
|
|
389
388
|
}
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|
@@ -26,6 +26,9 @@ async function main() {
|
|
|
26
26
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// React to packet being retrieved.
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|
27
27
|
// This is the place where all your application-level logic will exist
|
|
28
28
|
reader.on('data', (packet: MavLinkPacket) => {
|
|
29
|
+
// Output generic debug information about this packet
|
|
30
|
+
console.log(packet.debug())
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|
31
|
+
|
|
29
32
|
online = true
|
|
30
33
|
const clazz = REGISTRY[packet.header.msgid]
|
|
31
34
|
if (clazz) {
|