Format logging and stop manual control

See merge request !7

Makefile

 CFLAGS=-std=c99 -D_POSIX_C_SOURCE=200809L -pipe -Wall -Wextra -Wpedantic -Werror -Wno-overlength-strings -Wno-unused-parameter -Wc++-compat -Wformat -Wformat-security -Wformat-nonliteral -Wmissing-prototypes -Wstrict-prototypes -Wredundant-decls -Wuninitialized -Winit-self -Wcast-qual -Wstrict-overflow -Wnested-externs -Wmultichar -Wundef -fno-strict-aliasing -fexceptions -fPIC -fstack-protector-strong -fstack-clash-protection -ffunction-sections -fdata-sections -fno-unwind-tables -fno-asynchronous-unwind-tables -fno-math-errno -O3 -flto -fno-fat-lto-objects -Wshadow -Wconversion -fvisibility=hidden -fPIC
 CXXFLAGS=-pipe -Wall -Wextra -Wpedantic -Werror -Wno-overlength-strings -Wno-unused-parameter -Wformat -Wformat-security -Wformat-nonliteral -Wredundant-decls -Wuninitialized -Winit-self -Wcast-qual -Wstrict-overflow -Wmultichar -Wundef -fno-strict-aliasing -fexceptions -fPIC -fstack-protector-strong -fstack-clash-protection -ffunction-sections -fdata-sections -fno-unwind-tables -fno-asynchronous-unwind-tables -fno-math-errno -O3 -flto -fno-fat-lto-objects -Wshadow -Wconversion -fvisibility=hidden -fPIC
 LDFLAGS+= -std=c99 -D_POSIX_C_SOURCE=200809L -pipe -Wall -Wextra -Wpedantic -Werror -Wno-static-in-inline -Wno-overlength-strings -Wno-unused-parameter -Wc++-compat -Wformat -Wformat-security -Wformat-nonliteral -Wmissing-prototypes -Wstrict-prototypes -Wredundant-decls -Wuninitialized -Winit-self -Wcast-qual -Wstrict-overflow -Wnested-externs -Wmultichar -Wundef -fno-strict-aliasing -fexceptions -fPIC -fstack-protector-strong -fstack-clash-protection -ffunction-sections -fdata-sections -fno-unwind-tables -fno-asynchronous-unwind-tables -fno-math-errno -O3 -flto -fno-fat-lto-objects -Wshadow -Wconversion -fvisibility=hidden -fPIC
-LIBS=-lstdc++ -lmavsdk -lmavsdk_action -lmavsdk_manual_control -lmavsdk_mavlink_passthrough -lmavsdk_telemetry -lopen62541
+LIBS=-lstdc++ -lmavsdk -lmavsdk_action -lmavsdk_mavlink_passthrough -lmavsdk_telemetry -lopen62541
 
 LIB_NAME := libqjswrapper.so
 

include/mavsdk_wrapper.h

@@ -20,13 +20,12 @@ extern "C" {
 #endif
 #include <stdint.h>
 // Connexion management functions
-int mavsdk_start(const char * url, const char * log_file, int timeout);
+int mavsdk_start(const char * ip, int port, const char * log_file, int timeout);
 int mavsdk_stop(void);
 int mavsdk_reboot(void);
 
 // Flight state management functions
 int mavsdk_arm(void);
-int mavsdk_land(void);
 int mavsdk_takeOff(void);
 int mavsdk_takeOffAndWait(void);
 int mavsdk_triggerParachute(void);
@@ -34,9 +33,7 @@ int mavsdk_triggerParachute(void);
 // Flight management functions
 int mavsdk_loiter(float radius);
 int mavsdk_setAirspeed(float airspeed);
-int mavsdk_setAltitude(float altitude);
 int mavsdk_setTargetCoordinates(double la, double lo, float a);
-int mavsdk_setManualControlInput(void);
 
 // Information functions
 float mavsdk_getAltitude(void);
@@ -53,7 +50,6 @@ float mavsdk_getYaw(void);
 float mavsdk_getSpeed(void);
 float mavsdk_getClimbRate(void);
 int mavsdk_healthAllOk(void);
-bool mavsdk_isInManualMode(void);
 int mavsdk_landed(void);
 #ifdef __cplusplus
 }

mavsdk_wrapper.cpp

@@ -3,7 +3,6 @@
 #include <cstdint>
 #include <mavsdk/mavsdk.h>
 #include <mavsdk/plugins/action/action.h>
-#include <mavsdk/plugins/manual_control/manual_control.h>
 #include <mavsdk/plugins/mavlink_passthrough/mavlink_passthrough.h>
 #include <mavsdk/plugins/telemetry/telemetry.h>
 #include <iostream>
@@ -27,26 +26,18 @@ static std::ofstream log_file_fd;
 static Mavsdk _mavsdk;
 static Telemetry * telemetry;
 static Action * action;
-static ManualControl * manual_control;
 static MavlinkPassthrough * mavlink_passthrough;
 static std::shared_ptr<System> msystem;
 
 static auto prom = std::promise<std::shared_ptr<System>>{};
 static std::future<std::shared_ptr<System>> fut;
 
-static const double EARTH_GRAVITY = 9.81;
-static const double EARTH_RADIUS = 6371000.F;
-static const double MIN_YAW_DIFF = 1;
-static const double MAX_ROLL = 35;
-static const double YAW_VELOCITY_COEF = 0.5;
-
-static bool autocontinue = false;
-static double initialBearing;
-static double previousBearing;
-static double xy_ratio;
-static double target_latitude;
-static double target_longitude;
+static const float DEFAULT_RADIUS = 100;
+static const float EARTH_RADIUS = 6371000;
+
+static bool takingOff = false;
 static int mavsdk_started = 0;
+static uint64_t init_timestamp;
 static Telemetry::Position origin;
 
 // Logs functions
@@ -61,9 +52,9 @@ static void log_error(std::string message) {
 
 template <class Enumeration>
 static void log_error_from_result(std::string message, Enumeration result) {
-  std::ostringstream oss;
-  oss << message << ": " << result;
-  log_error(oss.str());
+    std::ostringstream oss;
+    oss << message << ": " << result;
+    log_error(oss.str());
 }
 
 // Action functions
@@ -101,7 +92,9 @@ static double toDeg(double angle) {
     return 180 * angle / M_PI;
 }
 
-int mavsdk_start(const char * url, const char * log_file, int timeout) {
+int mavsdk_start(const char * ip, int port, const char * log_file, int timeout) {
+    char url[32];
+    sprintf(url, "udp://%s:%d", ip , port);
     std::string connection_url(url);
     ConnectionResult connection_result;
     float abs_altitude;
@@ -136,22 +129,34 @@ int mavsdk_start(const char * url, const char * log_file, int timeout) {
     msystem = fut.get();
     telemetry = new Telemetry(msystem);
     action = new Action(msystem);
-    manual_control = new ManualControl(msystem);
     mavlink_passthrough = new MavlinkPassthrough(msystem);
 
-    log("Subscribing to raw GPS...");
-    telemetry->subscribe_raw_gps([](Telemetry::RawGps gps) {
-        std::ostringstream oss;
-        Telemetry::EulerAngle euler_angle = telemetry->attitude_euler();
-        Telemetry::FixedwingMetrics metrics = telemetry->fixedwing_metrics();
-        Telemetry::Position position = telemetry->position();
-
-        oss << gps.timestamp_us << "; "
-            << gps.latitude_deg << "; " << gps.longitude_deg << "; "
-            << gps.absolute_altitude_m << "; " << position.relative_altitude_m << "; "
-            << euler_angle.pitch_deg << "; " << euler_angle.roll_deg << "; " << euler_angle.yaw_deg << "; "
-            << metrics.airspeed_m_s << "; " << metrics.throttle_percentage << "; " << metrics.climb_rate_m_s;
-        log(oss.str());
+    telemetry->subscribe_flight_mode([](Telemetry::FlightMode flight_mode) {
+        if (takingOff && flight_mode != Telemetry::FlightMode::Takeoff) {
+            log("Subscribing to raw GPS...");
+            telemetry->subscribe_raw_gps([](Telemetry::RawGps gps) {
+                std::ostringstream oss;
+                oss << (gps.timestamp_us - init_timestamp) / 1000 << ";"
+                    << gps.latitude_deg << ";" << gps.longitude_deg << ";"
+                    << gps.absolute_altitude_m << ";" << telemetry->position().relative_altitude_m << ";"
+                    << telemetry->attitude_euler().yaw_deg << ";"
+                    << gps.velocity_m_s << ";" << telemetry->fixedwing_metrics().climb_rate_m_s;
+                log(oss.str());
+            });          
+        }
+
+        switch(flight_mode) {
+            case Telemetry::FlightMode::Takeoff:
+                  takingOff = true;
+                  log("Taking off...");
+                  break;
+
+            default:
+                if (takingOff) {
+                    takingOff = false;
+                    init_timestamp = telemetry->raw_gps().timestamp_us;
+                }
+        }
     });
 
     do {
@@ -160,11 +165,10 @@ int mavsdk_start(const char * url, const char * log_file, int timeout) {
         abs_altitude = mavsdk_getAltitude();
     } while(isnan(abs_altitude) || abs_altitude == 0);
     origin = telemetry->position();
-    xy_ratio = std::cos(toRad(origin.latitude_deg));
 
     log("MAVSDK started...");
     mavsdk_started = 1;
-    log("timestamp; latitude; longitude; AMSL (m); rel altitude (m); pitch (°); roll(°); yaw(°); air speed (m/s); throttle(%); climb rate(m/s)");
+    log("timestamp (ms);latitude (°);longitude (°);AMSL (m);rel altitude (m);yaw (°);ground speed (m/s);climb rate (m/s)");
     return 0;
 }
 
@@ -182,7 +186,6 @@ int mavsdk_stop() {
 
     // Delete pointers
     delete action;
-    delete manual_control;
     delete mavlink_passthrough;
     delete telemetry;
     log_file_fd.close();
@@ -209,33 +212,10 @@ int mavsdk_arm(void) {
     return doAction(&Action::arm, "Arming failed");
 }
 
-int mavsdk_land(void) {
-    log("Landing...");
-    if (doAction(&Action::terminate, "Land failed"))
-        return -1;
-
-    // Check if vehicle is still in air
-    while (telemetry->in_air()) {
-        log("Vehicle is landing...");
-        sleep_for(seconds(1));
-    }
-    log("Landed!");
-
-    while (telemetry->armed())
-        sleep_for(seconds(1));
-    log("Finished...");
-
-    return 0;
-}
-
 int mavsdk_takeOff(void) {
     if (doAction(&Action::takeoff, "Takeoff failed"))
         return -1;
 
-    while (telemetry->flight_mode() != Telemetry::FlightMode::Takeoff)
-        sleep_for(seconds(1));
-
-    log("Taking off...");
     return 0;
 }
 
@@ -243,6 +223,8 @@ int mavsdk_takeOffAndWait(void) {
     if (mavsdk_takeOff() < 0)
         return -1;
 
+    while (!takingOff)
+        sleep_for(seconds(1));
     while (telemetry->flight_mode() == Telemetry::FlightMode::Takeoff)
         sleep_for(seconds(1));
     return 0;
@@ -252,35 +234,60 @@ int mavsdk_triggerParachute(void) {
     if (!mavsdk_started)
         return -1;
 
+    log("Landing...");
     MavlinkPassthrough::CommandLong command;
     command.command = MAV_CMD_DO_PARACHUTE;
     command.param1 = 2; //see https://mavlink.io/en/messages/common.html#PARACHUTE_ACTION
     command.target_sysid = mavlink_passthrough->get_target_sysid();
     command.target_compid = mavlink_passthrough->get_target_compid();
-    return doMavlinkCommand(command, "Parachute release failed");
+    if (doMavlinkCommand(command, "Parachute release failed"))
+        return -1;
+
+    // Check if vehicule is still in air
+    while (telemetry->in_air()) {
+	      log("Vehicle is landing...");
+        sleep_for(seconds(1));
+    }
+    log("Landed!");
+
+    while (telemetry->armed())
+        sleep_for(seconds(1));
+    log("Finished...");
+    log_file_fd << std::flush;
+
+    return 0;
 }
 
 // Flight management functions
 
-int mavsdk_loiter(float radius) {
+static int doReposition(float la, float lo, float radius, float y) {
     if (!mavsdk_started)
         return -1;
-    Telemetry::Position position = telemetry->position();
 
     MavlinkPassthrough::CommandLong command;
     command.command = MAV_CMD_DO_REPOSITION;
     command.param1 = -1; // Ground speed, -1 for default
     command.param2 = MAV_DO_REPOSITION_FLAGS_CHANGE_MODE; //will go to navigate mode
     command.param3 = radius; // loiter radius
-    command.param5 = (float)position.latitude_deg;
-    command.param6 = (float)position.longitude_deg;
-    command.param7 = position.absolute_altitude_m; //altitude is ignored, use altitude override package
+    command.param4 = y; // loiter direction, 0: clockwise 1: counter clockwise
+    command.param5 = la;
+    command.param6 = lo;
     command.target_sysid = mavlink_passthrough->get_target_sysid();
     command.target_compid = mavlink_passthrough->get_target_compid();
 
     return doMavlinkCommand(command, "Entering loiter mode failed");
 }
 
+int mavsdk_loiter(float radius) {
+    Telemetry::Position position = telemetry->position();
+    return doReposition(
+        (float)position.latitude_deg,
+        (float)position.longitude_deg,
+        radius,
+        0
+    );
+}
+
 int mavsdk_setAirspeed(float airspeed) {
     if (!mavsdk_started)
         return -1;
@@ -296,7 +303,7 @@ int mavsdk_setAirspeed(float airspeed) {
     return doMavlinkCommand(command, "Setting airspeed failed");
 }
 
-int mavsdk_setAltitude(float altitude) {
+static int mavsdk_setAltitude(float altitude) {
     if (!mavsdk_started)
         return -1;
 
@@ -311,108 +318,49 @@ int mavsdk_setAltitude(float altitude) {
     return doMavlinkCommand(command, "Setting altitude failed");
 }
 
-static int startAltitudeControl(void) {
-    const ManualControl::Result result = manual_control->start_altitude_control();
-    if (result != ManualControl::Result::Success) {
-        log_error_from_result("Set manual control failed!", result);
-        return -1;
-    }
-    return 0;
-}
-
+/*
+ * compute the bearing angle between point 1 and point 2
+ * the bearing angle is the direction to take to go from point 1 to point 2
+ * values are in [-π; π] where 0 is North
+*/
 static double bearing(double lat1, double lon1, double lat2, double lon2) {
     double lat1_rad = toRad(lat1);
     double lat2_rad = toRad(lat2);
     double dL = toRad(lon2 - lon1);
     double x = cos(lat2_rad) * sin(dL);
     double y = cos(lat1_rad) * sin(lat2_rad) - sin(lat1_rad) * cos(lat2_rad) * cos(dL);
-    return atan2(x, y) * 180 / M_PI;
+    return atan2(x, y);
 }
 
 int mavsdk_setTargetCoordinates(double la, double lo, float a) {
-    int result = 0;
+    double b, laRad = toRad(la), loRad = toRad(lo), newLa, newLo;
+    int result;
+    float addedDistance = (2 * DEFAULT_RADIUS) / EARTH_RADIUS;
     Telemetry::Position position = telemetry->position();
 
     if (!mavsdk_started)
         return -1;
 
-    target_latitude = la;
-    target_longitude = lo;
-    initialBearing = previousBearing = bearing(position.latitude_deg,
-                                               position.longitude_deg,
-                                               la, lo);
-    autocontinue = false;
+    b = bearing(position.latitude_deg, position.longitude_deg, la, lo);
+    newLa = asin(
+      sin(laRad) * cos(addedDistance)
+      + cos(laRad) * sin(addedDistance) * cos(b)
+    );
+    newLo = loRad + atan2(
+      sin(b) * sin(addedDistance) * cos(laRad),
+      cos(addedDistance) - sin(laRad) * sin(newLa)
+    );
 
-    if (!mavsdk_isInManualMode()) {
-        result = mavsdk_setManualControlInput();
-        result |= startAltitudeControl();
-    }
+    result = doReposition(
+        (float)toDeg(newLa),
+        (float)toDeg(newLo),
+        DEFAULT_RADIUS,
+        0
+    );
     result |= mavsdk_setAltitude(a);
     return result;
 }
 
-static int setManualControlInput(float x, float y, float z, float r) {
-    const ManualControl::Result result = manual_control->set_manual_control_input(x, y, z, r);
-    if(result != ManualControl::Result::Success) {
-        log_error_from_result("Set manual control input failed!", result);
-        return -1;
-    }
-    return 0;
-}
-
-int mavsdk_setManualControlInput(void) {
-    double b;
-    float speed = mavsdk_getSpeed();
-
-    if (autocontinue) {
-        b = initialBearing;
-    } else {
-        Telemetry::Position position = telemetry->position();
-        b = bearing(position.latitude_deg, position.longitude_deg,
-                    target_latitude, target_longitude);
-/*
-  If there is a difference of more than 160° (180° for a half circle and 20° of imprecision)
-  between the required bearing and the one some milliseconds ago,
-  it means that the target is now behind the drone so the drone just went over the target.
-
-  In this case, we don't follow the target anymore, we simply keep the same trajectory.
-*/
-        if (abs(b - previousBearing) > 160) {
-            autocontinue = true;
-            return 0;
-        }
-        previousBearing = b;
-    }
-
-    float angle_diff = (float)b - mavsdk_getYaw();
-    if (angle_diff < -180) {
-        angle_diff += 360;
-    } else if (angle_diff > 180) {
-        angle_diff -= 360;
-    }
-
-    if (abs(angle_diff) < MIN_YAW_DIFF) {
-        initialBearing = b;
-        return 0;
-    }
-
-    /*
-    * radius is speed²/g*tan(B) where B is roll angle
-    * let's define yaw angular velocity Ys as speed*360/perimeter
-    * so tan(B) = 2PI*Ys*speed / 360*g
-    */
-    double wanted_yaw_velocity = angle_diff * YAW_VELOCITY_COEF;
-    double roll = toDeg(atan(
-      2 * M_PI * wanted_yaw_velocity * speed / (360 * EARTH_GRAVITY)
-    ));
-    return setManualControlInput(
-      0,
-      (float)((roll > 0 ? 1 : -1) * std::min(abs(roll), MAX_ROLL) / MAX_ROLL),
-      0,
-      0
-    );
-}
-
 // Information functions
 
 float mavsdk_getAltitude(void) {
@@ -488,10 +436,6 @@ int mavsdk_healthAllOk(void) {
     return telemetry->health_all_ok();
 }
 
-bool mavsdk_isInManualMode(void) {
-    return telemetry->flight_mode() == Telemetry::FlightMode::Altctl;
-}
-
 int mavsdk_landed(void) {
     return !telemetry->in_air();
 }

qjs_wrapper.c

@@ -405,18 +405,21 @@ static JSValue js_stop_pubsub(JSContext *ctx, JSValueConst thisVal,
 static JSValue js_mavsdk_start(JSContext *ctx, JSValueConst thisVal,
                                int argc, JSValueConst *argv)
 {
-    const char *url;
+    const char *ip;
     const char *log_file;
+    int port;
     int timeout;
     int res;
 
-    url = JS_ToCString(ctx, argv[0]);
-    log_file = JS_ToCString(ctx, argv[1]);
-    if (JS_ToInt32(ctx, &timeout, argv[2]))
+    ip = JS_ToCString(ctx, argv[0]);
+    if (JS_ToInt32(ctx, &port, argv[1]))
+        return JS_EXCEPTION;
+    log_file = JS_ToCString(ctx, argv[2]);
+    if (JS_ToInt32(ctx, &timeout, argv[3]))
         return JS_EXCEPTION;
 
-    res = mavsdk_start(url, log_file, timeout);
-    JS_FreeCString(ctx, url);
+    res = mavsdk_start(ip, port, log_file, timeout);
+    JS_FreeCString(ctx, ip);
     JS_FreeCString(ctx, log_file);
 
     return JS_NewInt32(ctx, res);
@@ -442,12 +445,6 @@ static JSValue js_mavsdk_arm(JSContext *ctx, JSValueConst this_val,
     return JS_NewInt32(ctx, mavsdk_arm());
 }
 
-static JSValue js_mavsdk_land(JSContext *ctx, JSValueConst thisVal,
-                              int argc, JSValueConst *argv)
-{
-    return JS_NewInt32(ctx, mavsdk_land());
-}
-
 static JSValue js_mavsdk_takeOff(JSContext *ctx, JSValueConst thisVal,
                                  int argc, JSValueConst *argv)
 {
@@ -489,17 +486,6 @@ static JSValue js_mavsdk_setAirspeed(JSContext *ctx, JSValueConst thisVal,
     return JS_NewInt32(ctx, mavsdk_setAirspeed((float)altitude));
 }
 
-static JSValue js_mavsdk_setAltitude(JSContext *ctx, JSValueConst thisVal,
-                                     int argc, JSValueConst *argv)
-{
-    double altitude;
-
-    if (JS_ToFloat64(ctx, &altitude, argv[0]))
-        return JS_EXCEPTION;
-
-    return JS_NewInt32(ctx, mavsdk_setAltitude((float)altitude));
-}
-
 static JSValue js_mavsdk_setTargetCoordinates(JSContext *ctx,
                                               JSValueConst thisVal,
                                               int argc, JSValueConst *argv)
@@ -520,13 +506,6 @@ static JSValue js_mavsdk_setTargetCoordinates(JSContext *ctx,
                                                         (float)a_arg_double));
 }
 
-static JSValue js_mavsdk_setManualControlInput(JSContext *ctx,
-                                               JSValueConst thisVal,
-                                               int argc, JSValueConst *argv)
-{
-    return JS_NewInt32(ctx, mavsdk_setManualControlInput());
-}
-
 // Information functions
 
 static JSValue js_mavsdk_getAltitude(JSContext *ctx, JSValueConst thisVal,
@@ -605,12 +584,6 @@ static JSValue js_mavsdk_healthAllOk(JSContext *ctx, JSValueConst this_val,
     return JS_NewBool(ctx, mavsdk_healthAllOk());
 }
 
-static JSValue js_mavsdk_isInManualMode(JSContext *ctx, JSValueConst thisVal,
-                                        int argc, JSValueConst *argv)
-{
-    return JS_NewBool(ctx, mavsdk_isInManualMode());
-}
-
 static JSValue js_mavsdk_landed(JSContext *ctx, JSValueConst this_val,
                                 int argc, JSValueConst *argv)
 {
@@ -621,19 +594,16 @@ static const JSCFunctionListEntry js_mavsdk_funcs[] = {
     JS_CFUNC_DEF("setMessage", 1, js_drone_set_message ),
     JS_CFUNC_DEF("runPubsub", 6, js_run_pubsub ),
     JS_CFUNC_DEF("stopPubsub", 0, js_stop_pubsub ),
-    JS_CFUNC_DEF("start", 3, js_mavsdk_start ),
+    JS_CFUNC_DEF("start", 4, js_mavsdk_start ),
     JS_CFUNC_DEF("stop", 0, js_mavsdk_stop ),
     JS_CFUNC_DEF("reboot", 0, js_mavsdk_reboot ),
     JS_CFUNC_DEF("arm", 0, js_mavsdk_arm ),
-    JS_CFUNC_DEF("land", 0, js_mavsdk_land ),
     JS_CFUNC_DEF("takeOff", 0, js_mavsdk_takeOff ),
     JS_CFUNC_DEF("takeOffAndWait", 0, js_mavsdk_takeOffAndWait ),
     JS_CFUNC_DEF("triggerParachute", 0, js_mavsdk_triggerParachute ),
     JS_CFUNC_DEF("loiter", 1, js_mavsdk_loiter ),
     JS_CFUNC_DEF("setAirspeed", 1, js_mavsdk_setAirspeed ),
-    JS_CFUNC_DEF("setAltitude", 1, js_mavsdk_setAltitude ),
     JS_CFUNC_DEF("setTargetCoordinates", 3, js_mavsdk_setTargetCoordinates ),
-    JS_CFUNC_DEF("setManualControlInput", 0, js_mavsdk_setManualControlInput ),
     JS_CFUNC_DEF("getAltitude", 0, js_mavsdk_getAltitude ),
     JS_CFUNC_DEF("getAltitudeRel", 0, js_mavsdk_getAltitudeRel ),
     JS_CFUNC_DEF("getInitialAltitude", 0, js_mavsdk_getInitialAltitude ),
@@ -645,7 +615,6 @@ static const JSCFunctionListEntry js_mavsdk_funcs[] = {
     JS_CFUNC_DEF("getYaw", 0, js_mavsdk_getYaw ),
     JS_CFUNC_DEF("getAirspeed", 0, js_mavsdk_getSpeed ),
     JS_CFUNC_DEF("getClimbRate", 0, js_mavsdk_getClimbRate ),
-    JS_CFUNC_DEF("isInManualMode", 0, js_mavsdk_isInManualMode ),
     JS_CFUNC_DEF("healthAllOk", 0, js_mavsdk_healthAllOk ),
     JS_CFUNC_DEF("landed", 0, js_mavsdk_landed ),
     JS_CFUNC_DEF("initPubsub", 1, js_init_pubsub ),