MAVLink Library Wrapper

This is a small MAVLink JS library wrapper that provides a more streamlined access to it, patches the original MAVLink library to prevent certain bugs and also adds tests for some particularly touchy functions.

General Usage

For most Integrations (Broker)

var mavjs = require('mavlink-js');

// Prepare your connection stream (serial, UDP, etc.):
const systemConn = new mavjs.UdpConnection("0.0.0.0", 14550);

// Get broker object
const broker = new mavjs.MavlinkSystemBroker(systemConn);

// Access all available systems
let systems = broker.getSystems();

systems.forEach((system, index) => {
    console.log(`Got system ${system.sysId}`);
});

// OR: Get notified when a system connects
broker.on('newSystem', function(system) {
    console.log(`Got system ${system.sysId}`);
});

// OR: Get the universal system to access all data if you don't worry about multiple different systems
system = broker.getUniversalSystem();
console.log(`Got universal system ${system.sysId}`); // is ID 0

For Low Level Handling (Direct)

var mavjs = require('mavlink-js');

// Prepare your connection stream (serial, UDP, etc.):
var connection = mavjs.SerialConnection("/dev/tty.usbmodem01", 57600);

// The connection needs to define a "send" function to allow writing of data to the connection
// and emit a "data" event when receiving data.
// mavlink-js provides 2 simple implementations: mavjs.SerialConnection and mavjs.UdpConnection

// Create the Mavlink wrapper object providing at least:
// system ID, component ID, send data callback
var mavlib = new mavjs.MavlinkLib(255, 0, (buffer) => {
    connection.send(buffer);
});

// Forward data for parsing when it comes in:
connection.on('data', function(data) {
	mavlib.parseData(data);
});

// Receive successfully parsed messages:
mavlib.on('message', function(msg) {
	console.log(msg);
});

// Receive specific successfully parsed messages:
mavlib.on('HEARTBEAT', function(msg) {
	console.log(msg);
});

// Send a message:
var msg = new mavjs.messages.heartbeat(
    mavjs.mavlink.MAV_TYPE_GCS, // type
    mavjs.mavlink.MAV_AUTOPILOT_INVALID, // autopilot
    0, // base mode
    0, // custom mode
    mavjs.mavlink.MAV_STATE_ACTIVE, // system status
    mavjs.mavlink.WIRE_PROTOCOL_VERSION
);

mavlib.sendMessage(msg);

MAVLink Parameter Helpers

var mavlib = mavjs.MavlnkLib(...);

// Read parameter value from received MAVLink message
var value = mavlib.readParamValue(msg);

// Create int param_set message
var msg = mavlib.createParamSetMessage("MAV_TEST_PAR", 123, false);

// Create float param_set message
var msg = mavlib.createParamSetMessage("MAV_HUD_FREQ", 5.354, true);

Update from MAVLink Definitions

# Generate from definitions:
cd mavlink
./pymavlink/tools/mavgen.py --lang JavaScript_Stable --wire-protocol 2.0 -o ../mavlink_js_library_v2_private/src/mavlink/mavlink.js message_definitions/v1.0/standard.xml
cd ../mavlink_js_library_v2_private

# Execute patch script and run tests:
npm test

# If tests were successful commit update:
git commit -a
git push