Flightpath

Go platform exposing a gRPC API to control a drone.

Architecture

Project Structure

flightpath/
├── cmd/
│   └── server/
│       └── main.go                 # Server entry point
├── examples/                       # API usage examples
│   └── message_monitor.go
├── gen/                            # Generated files
│   ├── go/flightpath
│   |   ├── action_pb.go
│   |   ├── connection_pb.go
│   |   └── telemetry_pb.go
│   └── ts/flightpath
│       ├── action_pb.go
│       ├── connection_pb.go
│       └── telemetry_pb.go
├── internal/
│   ├── config/
│   │   ├── config.go               # Configuration structure
│   │   └── loader.go               # Configuration loader
│   ├── mavlink/
│   │   └── mavlink_connector.go    # Drone interface using MAVLink
│   ├── middleware/
│   │   ├── cors.go                 # CORS middleware
│   │   ├── logging.go              # Request logging
│   │   └── recovery.go             # Panic recovery
│   ├── server/
│   │   └── server.go               # Represents the flightpath server
│   └── services/
│       ├── context.go              # Shared context for all services (config, logger, etc.)
│       ├── action.go               # Handles drone actions
│       ├── connection.go           # Handles drone connection
│       └── telemetry.go            # Handles drone telemetry
├── proto/
│   └── flightpath/
│       ├── action.proto            # Drone actions
│       ├── connection.proto        # Drone connection
│       └── telemetry.proto         # Drone telemetry
├── go.mod
└── go.sum

Quick Start

Prerequisites

# 1. Clone repository
git clone https://github.com/flightpath-dev/flightpath
cd flightpath

# 2. Install dependencies
go mod tidy

Run with a PX4 SITL

Start a PX4 SITL by following the instructions in PX4 SITL Setup.

# 1. Run server
go run cmd/server/main.go

# 2. Monitor messages from the SITL
go run examples/monitor_heartbeat_flightpath/main.go

Run with a drone connected to a serial port

# 1. Turn on the drone

# 2. Run the server with a serial port configuration 
export FLIGHTPATH_MAVLINK_ENDPOINT_TYPE=serial
export FLIGHTPATH_MAVLINK_SERIAL_DEVICE=/dev/cu.usbserial-D30JAXGS
export FLIGHTPATH_MAVLINK_SERIAL_BAUD=57600
go run cmd/server/main.go

# 3. Monitor messages from the drone
go run examples/monitor_heartbeat_flightpath/main.go

Run with a drone connected over a UDP port

# 1. Turn on the drone

# 2. Run the server with a UDP configuration
export FLIGHTPATH_MAVLINK_ENDPOINT_TYPE=udp-server
export FLIGHTPATH_MAVLINK_UDP_ADDRESS=0.0.0.0:14550
go run cmd/server/main.go

# 3. Monitor messages from the drone
go run examples/monitor_heartbeat_flightpath/main.go

Development

License

MIT