node-mavlink 2.1.0 → 2.3.0

package/examples/send-receive-param-list-sitl.ts

@@ -0,0 +1,52 @@
+#!/usr/bin/env -S npx ts-node
+
+import { MavParamType } from 'mavlink-mappings/dist/lib/common'
+import { MavSitl, minimal, common, ardupilotmega } from '..'
+import { MavLinkPacket, MavLinkPacketRegistry } from '..'
+
+// start the simulator as follows:
+//
+// ./sim_vehicle.py -v ArduCopter -f quad --no-mavproxy
+
+const REGISTRY: MavLinkPacketRegistry = {
+  ...minimal.REGISTRY,
+  ...common.REGISTRY,
+  ...ardupilotmega.REGISTRY,
+}
+
+async function main() {
+  const port = new MavSitl()
+
+  // start the communication
+  const { ip } = await port.start()
+  console.log(`Connected to: ${ip}`)
+
+  // log incoming messages
+  port.on('data', (packet: MavLinkPacket) => {
+    const clazz = REGISTRY[packet.header.msgid]
+    if (clazz) {
+      if (packet.header.msgid === common.ParamValue.MSG_ID) {
+        const data = packet.protocol.data(packet.payload, clazz) as common.ParamValue
+        console.log('>', data)
+      }
+    } else {
+      console.log('!', packet.debug())
+    }
+  })
+
+  // Create an instance of of the `ParamRequestList`
+  // class that will be the vessel for coRequestProtocolVersionCommandntaining the command data.
+  // Underneath the cover it uses CommandLong to convert the data.
+  //
+  // 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 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.ParamRequestList()
+
+  await port.send(command)
+}
+
+main()

package/examples/send-receive-tcp.ts

@@ -0,0 +1,70 @@
+#!/usr/bin/env -S npx ts-node
+
+// start the simulator as follows:
+//
+// ./sim_vehicle.py -v ArduCopter -f quad --no-mavlink
+
+import { MavBool } from 'mavlink-mappings/dist/lib/standard'
+import { MavTCP, minimal, common, ardupilotmega, reserialize, sleep } from '..'
+import { MavLinkPacket, MavLinkPacketRegistry } from '..'
+
+const REGISTRY: MavLinkPacketRegistry = {
+  ...minimal.REGISTRY,
+  ...common.REGISTRY,
+  ...ardupilotmega.REGISTRY,
+}
+
+async function main() {
+  const port = new MavTCP()
+
+  // start the communication
+  const { ip } = await port.start()
+  console.log(`Connected to: ${ip}`)
+
+  // log incoming messages
+  port.on('data', (packet: MavLinkPacket) => {
+    const clazz = REGISTRY[packet.header.msgid]
+    if (clazz) {
+      const data = packet.protocol.data(packet.payload, clazz)
+      if (packet.header.msgid === common.CommandAck.MSG_ID) {
+        console.log(packet.debug())
+        console.log('ACKNOWLEDGED>', data)
+        port.close()
+        process.exit(0)
+      } else {
+        console.log(packet.debug())
+        console.log(data)
+      }
+    } else {
+      console.log('<UNKNOWN>', packet.debug())
+    }
+  })
+
+  // Create an instance of of the `RequestProtocolVersionCommand`
+  // class that will be the vessel for containing the command data.
+  // Underneath the cover it uses CommandLong to convert the data.
+  //
+  // 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 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()
+  command.protocol = MavBool.FALSE
+
+  await port.send(command)
+
+  const { header, data } = reserialize(command)
+  console.log(`Packet (proto: MAV_V2, sysid: ${header.sysid}, compid: ${header.compid}, msgid: ${header.msgid}, seq: ${header.seq}, plen: ${header.payloadLength})`)
+  console.log('SENT>', data)
+
+  // Give the system time to process any incoming acknowledges
+  await sleep(500)
+
+  // Close communication
+  port.close()
+  process.exit(1)
+}
+
+main()

package/examples/send-receive-udp.ts

@@ -1,6 +1,6 @@
 #!/usr/bin/env -S npx ts-node
 
-import { MavEsp8266, minimal, common, ardupilotmega } from '..'
+import { MavEsp8266, minimal, common, ardupilotmega, reserialize, sleep } from '..'
 import { MavLinkPacket, MavLinkPacketRegistry } from '..'
 
 const REGISTRY: MavLinkPacketRegistry = {
@@ -9,12 +9,6 @@ const REGISTRY: MavLinkPacketRegistry = {
   ...ardupilotmega.REGISTRY,
 }
 
-// This is how you could build a registry of all commands from different packages
-const COMMANDS: common.MavLinkCommandRegistry = {
-  ...common.COMMANDS,
-  ...ardupilotmega.COMMANDS,
-}
-
 async function main() {
   const port = new MavEsp8266()
 
@@ -28,12 +22,18 @@ async function main() {
   port.on('data', (packet: MavLinkPacket) => {
     const clazz = REGISTRY[packet.header.msgid]
     if (clazz) {
+      const data = packet.protocol.data(packet.payload, clazz)
       if (packet.header.msgid === common.CommandAck.MSG_ID) {
-        const data = packet.protocol.data(packet.payload, clazz)
-        console.log('>', data)
+        console.log(packet.debug())
+        console.log('ACKNOWLEDGED>', data)
+        port.close()
+        process.exit(0)
+      } else {
+        console.log(packet.debug())
+        console.log(data)
       }
     } else {
-      console.log('!', packet.debug())
+      console.log('<UNKNOWN>', packet.debug())
     }
   })
 
@@ -48,16 +48,21 @@ async function main() {
   // parameter not only has a more descriptive names but also in-line
   // documentation.
   const command = new common.RequestProtocolVersionCommand()
+  command.targetSystem = 1
+  command.targetComponent = 1
   command.confirmation = 1
 
   await port.send(command)
 
-  // Give the system time to process any incoming acknowledges
-  const sleep = (ms: number) => new Promise(resolve => setTimeout(resolve, ms))
-  await sleep(1000)
+  const { header, data } = reserialize(command)
+  console.log(`Packet (proto: MAV_V2, sysid: ${header.sysid}, compid: ${header.compid}, msgid: ${header.msgid}, seq: ${header.seq}, plen: ${header.payloadLength})`)
+  console.log('SENT>', data)
+
+  await sleep(5000)
 
   // Close communication
   port.close()
+  process.exit(1)
 }
 
 main()

package/package.json

@@ -1,6 +1,6 @@
 {
   "name": "node-mavlink",
-  "version": "2.1.0",
+  "version": "2.3.0",
   "author": "Matthias Hryniszak <padcom@gmail.com>",
   "license": "LGPL",
   "description": "MavLink definitions and parsing library",
@@ -9,11 +9,11 @@
   ],
   "repository": {
     "type": "git",
-    "url": "git+https://github.com/padcom/node-mavlink.git"
+    "url": "git+https://github.com/ArduPilot/node-mavlink.git"
   },
   "bugs": {
     "email": "padcom@gmail.com",
-    "url": "https://github.com/padcom/node-mavlink/issues"
+    "url": "https://github.com/ArduPilot/node-mavlink/issues"
   },
   "funding": {
     "type": "patreon",
@@ -22,7 +22,7 @@
   "main": "dist/index.js",
   "types": "dist/index.d.ts",
   "dependencies": {
-    "mavlink-mappings": "^1.0.20-20240131-0"
+    "mavlink-mappings": "^1.0.21-20250824-1"
   },
   "scripts": {
     "clean": "rm -rf dist lib/*.js",