Created
February 26, 2023 01:04
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| import { connect } from 'net' | |
| import { MavLinkPacketSplitter, MavLinkPacketParser, common, minimal, send, MavLinkProtocolV2 } from 'node-mavlink' | |
| const REGISTRY = { | |
| ...minimal.REGISTRY, | |
| ...common.REGISTRY, | |
| }; | |
| let port; | |
| async function main() { | |
| port = connect({ host: ip, port: 31516 }) | |
| const reader = port | |
| .pipe(new MavLinkPacketSplitter()) | |
| .pipe(new MavLinkPacketParser()) | |
| //const command = new common.RequestProtocolVersionCommand(); | |
| const takeoffCommand = new common.NavTakeoffCommand(1, 1); | |
| takeoffCommand.altitude = 20; | |
| const armCommand = new common.ComponentArmDisarmCommand(1, 1); | |
| armCommand.arm = 1; | |
| // command.confirmation = 1; | |
| port.on('connect', () => { | |
| console.log('Connected!') | |
| // console.log(command); | |
| // send(port, command, new MavLinkProtocolV2()); | |
| send(port, armCommand, new MavLinkProtocolV2()); | |
| }); | |
| reader.on('data', (packet) => { | |
| const clazz = REGISTRY[packet.header.msgid] | |
| if (clazz) { | |
| const data = packet.protocol.data(packet.payload, clazz) | |
| //console.log('>', data) | |
| } else { | |
| //console.log('!', packet.debug()) | |
| } | |
| }); | |
| } | |
| async function getParams() { | |
| const message = new common.ParamRequestList() | |
| message.targetSystem = 1 | |
| message.targetComponent = 1 | |
| await send(port, message, new MavLinkProtocolV1()); | |
| } | |
| main() |
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