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pwm status and new checksums up to date with pixhawk #9

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pwm status and new checksums up to date with pixhawk #9

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229e32e
Added sysId param to createMessage method
vbaicu Aug 9, 2018
eb5d0ef
Changed checksum and message parsing fro v1.0
vbaicu Sep 17, 2018
7764a00
New definition for pwm status
vbaicu Sep 17, 2018
004df1b
Timestamp definitions
vbaicu Oct 24, 2018
db877e7
Added checksum for TIME_SYNC message
vbaicu Oct 24, 2018
1bf6001
Pixhawk read / set parameters of type Integer bug fix.
Jun 20, 2019
e949a6b
Merge pull request #1 from shafeeqr2/master
vbaicu Jun 20, 2019
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1 change: 1 addition & 0 deletions .gitignore
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Original file line number Diff line number Diff line change
@@ -1 +1,2 @@
node_modules/
.DS_Store
256 changes: 248 additions & 8 deletions src/mavlink.js
100755 → 100644
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Original file line number Diff line number Diff line change
Expand Up @@ -311,6 +311,191 @@ mavlink.prototype.startCharacter = function() {
}
}

mavlink.prototype.getCrcExtraForId = function(id)
{
var checksum = 0;
switch (id) {
case 0: checksum = 50; break;
case 1: checksum = 124; break;
case 2: checksum = 137; break;
case 4: checksum = 237; break;
case 5: checksum = 217; break;
case 6: checksum = 104; break;
case 7: checksum = 119; break;
case 11: checksum = 89; break;
case 20: checksum = 214; break;
case 21: checksum = 159; break;
case 22: checksum = 220; break;
case 23: checksum = 168; break;
case 24: checksum = 24; break;
case 25: checksum = 23; break;
case 26: checksum = 170; break;
case 27: checksum = 144; break;
case 28: checksum = 67; break;
case 29: checksum = 115; break;
case 30: checksum = 39; break;
case 31: checksum = 246; break;
case 32: checksum = 185; break;
case 33: checksum = 104; break;
case 34: checksum = 237; break;
case 35: checksum = 244; break;
case 36: checksum = 222; break;
case 37: checksum = 212; break;
case 38: checksum = 9; break;
case 39: checksum = 254; break;
case 40: checksum = 230; break;
case 41: checksum = 28; break;
case 42: checksum = 28; break;
case 43: checksum = 132; break;
case 44: checksum = 221; break;
case 45: checksum = 232; break;
case 46: checksum = 11; break;
case 47: checksum = 153; break;
case 48: checksum = 41; break;
case 49: checksum = 39; break;
case 50: checksum = 78; break;
case 54: checksum = 15; break;
case 55: checksum = 3; break;
case 61: checksum = 153; break;
case 62: checksum = 183; break;
case 63: checksum = 51; break;
case 64: checksum = 59; break;
case 65: checksum = 118; break;
case 66: checksum = 148; break;
case 67: checksum = 21; break;
case 69: checksum = 243; break;
case 70: checksum = 124; break;
case 73: checksum = 38; break;
case 74: checksum = 20; break;
case 75: checksum = 158; break;
case 76: checksum = 152; break;
case 77: checksum = 143; break;
case 81: checksum = 106; break;
case 82: checksum = 49; break;
case 83: checksum = 22; break;
case 84: checksum = 143; break;
case 85: checksum = 140; break;
case 86: checksum = 5; break;
case 87: checksum = 150; break;
case 89: checksum = 231; break;
case 90: checksum = 183; break;
case 91: checksum = 63; break;
case 92: checksum = 54; break;
case 100: checksum = 175; break;
case 101: checksum = 102; break;
case 102: checksum = 158; break;
case 103: checksum = 208; break;
case 104: checksum = 56; break;
case 105: checksum = 93; break;
case 106: checksum = 138; break;
case 107: checksum = 108; break;
case 108: checksum = 32; break;
case 109: checksum = 185; break;
case 110: checksum = 84; break;
case 111: checksum = 34; break;
case 112: checksum = 174; break;
case 113: checksum = 124; break;
case 114: checksum = 237; break;
case 115: checksum = 4; break;
case 116: checksum = 76; break;
case 117: checksum = 128; break;
case 118: checksum = 56; break;
case 119: checksum = 116; break;
case 120: checksum = 134; break;
case 121: checksum = 237; break;
case 122: checksum = 203; break;
case 123: checksum = 250; break;
case 124: checksum = 87; break;
case 125: checksum = 203; break;
case 126: checksum = 220; break;
case 127: checksum = 25; break;
case 128: checksum = 226; break;
case 129: checksum = 46; break;
case 130: checksum = 29; break;
case 131: checksum = 223; break;
case 132: checksum = 85; break;
case 133: checksum = 6; break;
case 134: checksum = 229; break;
case 135: checksum = 203; break;
case 136: checksum = 1; break;
case 137: checksum = 195; break;
case 138: checksum = 109; break;
case 139: checksum = 168; break;
case 140: checksum = 181; break;
case 141: checksum = 47; break;
case 142: checksum = 72; break;
case 143: checksum = 131; break;
case 146: checksum = 103; break;
case 147: checksum = 154; break;
case 148: checksum = 178; break;
case 149: checksum = 200; break;
case 241: checksum = 90; break;
case 242: checksum = 104; break;
case 243: checksum = 85; break;
case 244: checksum = 95; break;
case 245: checksum = 130; break;
case 246: checksum = 158; break;
case 248: checksum = 8; break;
case 249: checksum = 204; break;
case 250: checksum = 49; break;
case 251: checksum = 170; break;
case 252: checksum = 44; break;
case 253: checksum = 83; break;
case 254: checksum = 86; break;
case 150: checksum = 134; break;
case 151: checksum = 219; break;
case 152: checksum = 208; break;
case 153: checksum = 188; break;
case 154: checksum = 84; break;
case 155: checksum = 22; break;
case 156: checksum = 19; break;
case 157: checksum = 21; break;
case 158: checksum = 134; break;
case 160: checksum = 78; break;
case 161: checksum = 68; break;
case 162: checksum = 189; break;
case 163: checksum = 127; break;
case 164: checksum = 154; break;
case 165: checksum = 21; break;
case 166: checksum = 21; break;
case 167: checksum = 144; break;
case 168: checksum = 1; break;
case 169: checksum = 234; break;
case 170: checksum = 73; break;
case 171: checksum = 181; break;
case 172: checksum = 22; break;
case 173: checksum = 83; break;
case 174: checksum = 167; break;
case 175: checksum = 138; break;
case 176: checksum = 234; break;
case 177: checksum = 240; break;
case 178: checksum = 47; break;
case 179: checksum = 189; break;
case 180: checksum = 52; break;
case 181: checksum = 174; break;
case 182: checksum = 229; break;
case 183: checksum = 85; break;
case 184: checksum = 159; break;
case 185: checksum = 186; break;
case 186: checksum = 72; break;
case 191: checksum = 92; break;
case 192: checksum = 36; break;
case 193: checksum = 71; break;
case 194: checksum = 98; break;
case 200: checksum = 134; break;
case 201: checksum = 205; break;
case 214: checksum = 69; break;
case 215: checksum = 101; break;
case 216: checksum = 50; break;
case 217: checksum = 202; break;
case 218: checksum = 17; break;
case 219: checksum = 162; break;
case 226: checksum = 207; break;
default: checksum = 0; break;
}
return (checksum&0xFF) ^ (checksum>>8)
}

mavlink.prototype.parseChar = function(ch) {
//If we have no data yet, look for start character
if (this.bufferIndex == 0 && ch == this.startCharacter()) {
Expand Down Expand Up @@ -341,13 +526,22 @@ mavlink.prototype.parseChar = function(ch) {
var crc_buf = new Buffer(this.messageLength+6);
this.buffer.copy(crc_buf,0,1,this.messageLength+6);

//Add the message checksum on the end
crc_buf[crc_buf.length-1] = this.messageChecksums[this.buffer[5]];
if (this.buffer[5] == 42)
{
var rrr = 1
}
//Add the message checksum on the end
//the messageChecksums for some messages (147-BATTERY_STATUS for example is not calculated correctly, so I added is hardcoded in getCrcExtraForId)
//crc_buf[crc_buf.length-1] = this.messageChecksums[this.buffer[5]];
var vvv = this.messageChecksums[this.buffer[5]];
var val = this.getCrcExtraForId(this.buffer[5]);
crc_buf[crc_buf.length-1] = (val&0xFF) ^ (val>>8)
} else {
//Buffer for checksummable data
var crc_buf = new Buffer(this.messageLength+5);
this.buffer.copy(crc_buf,0,1,this.messageLength+6);
}
}


//Test the checksum
if (this.calculateChecksum(crc_buf) == this.buffer.readUInt16LE(this.messageLength+6)) {
Expand Down Expand Up @@ -456,7 +650,25 @@ mavlink.prototype.bufferField = function(buf, offset, field, value) {
//Decode an incomming message in to its individual fields
mavlink.prototype.decodeMessage = function(message) {

//determine the fields
var param_data_type_dict = {
1:'uint8_t',
2:'int8_t',
3:'uint16_t',
4:'int16_t',
5:'uint32_t',
6:'int32_t',
7:'uint64_t',
8:'int64_t',
9:'float',
10:'double'

};

//determine the fields
if (this.messagesByID[message.id] == undefined)
{
return;
}
var fields = this.messagesByID[message.id].field;

//initialise the output object and buffer offset
Expand All @@ -479,6 +691,13 @@ mavlink.prototype.decodeMessage = function(message) {
//loop over all elements in field and read from buffer
for (var j = 0; j<fields[i].arrayLength; j++) {
var val = 0;

if (message.id == 22 && fields[i].$.name == 'param_value') {
// console.log(fields[i].$.name + " " + fields[i].$.type + " " + offset + " " + fields[i].typeLength);
param_type_index = message.payload.readUInt8(24);
fieldTypeName = param_data_type_dict[param_type_index];
}

switch (fieldTypeName){
case 'float':
val = message.payload.readFloatLE(offset);
Expand Down Expand Up @@ -554,8 +773,25 @@ mavlink.prototype.decodeMessage = function(message) {
// 'pitchspeed':0.5,
// 'yawspeed':0.6
// }, callback);
mavlink.prototype.createMessage = function(msgid, data, cb) {
//if ID's are zero we can't send data

mavlink.prototype.createMessage = function(msgid, data, sysid, cb) {
var param_data_type_dict = {
1:'uint8_t',
2:'int8_t',
3:'uint16_t',
4:'int16_t',
5:'uint32_t',
6:'int32_t',
7:'uint64_t',
8:'int64_t',
9:'float',
10:'double'

};

//if ID's are zero we can't send data
if (sysid == 0)
sysid = this.sysid;
if (this.sysid == 0 && this.compid == 0) {
console.log("System and component ID's are zero, cannot create message!");
}
Expand Down Expand Up @@ -587,6 +823,10 @@ mavlink.prototype.createMessage = function(msgid, data, cb) {
return;
}

if (msgid == 'PARAM_SET' && message.field[i].$.name == 'param_value') {
message.field[i].$.type = param_data_type_dict[data['param_type']];
}

//If we have data, add it to the buffer
this.bufferField(payloadBuf, offset, message.field[i], data[message.field[i].$.name]);

Expand All @@ -607,7 +847,7 @@ mavlink.prototype.createMessage = function(msgid, data, cb) {
msgBuf[0] = this.startCharacter();
msgBuf[1] = message.payloadLength;
msgBuf[2] = this.sequence;
msgBuf[3] = this.sysid;
msgBuf[3] = sysid;
msgBuf[4] = this.compid;
msgBuf[5] = id;

Expand All @@ -626,4 +866,4 @@ mavlink.prototype.createMessage = function(msgid, data, cb) {
cb(msgObj);
}

module.exports = mavlink;
module.exports = mavlink;
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