Remove autopilot's API specific related code

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_mavlink_passthrough -lmavsdk_telemetry -lopen62541
+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 -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=-lautopilotwrapper -lopen62541
 
 LIB_NAME := libqjswrapper.so
 
-SRCS := mavsdk_wrapper.cpp pubsub.c qjs_wrapper.c
-OBJS := mavsdk_wrapper.o pubsub.o qjs_wrapper.o
+SRCS := pubsub.c qjs_wrapper.c
+OBJS := pubsub.o qjs_wrapper.o
 
 all: $(LIB_NAME)
 

README

-This project is holding the source code for QuickJS component that will wrap the functions from MAVSDK and open62541.
+# qjs-wrapper
+
+This project is holding the source code for QuickJS component that will wrap the functions from open62541 and a drone
+autopilot's API (MAVSDK by default).

include/dronedge.h

@@ -2,7 +2,7 @@
 #define __DRONEDGE_H__
 
 #include <open62541/server.h>
-#include "mavsdk_wrapper.h"
+#include "autopilot_wrapper.h"
 #include "pubsub.h"
 
 struct messageNode {
@@ -36,7 +36,7 @@ VariableData droneVariableArray[] = {
         .valueRank = UA_VALUERANK_ONE_DIMENSION,
         .arrayDimensionsSize = 1,
         .arrayDimensions = positionArrayDims,
-        .getter.getArray = mavsdk_getPositionArray,
+        .getter.getArray = getPositionArray,
     },
     {
         .name = "speedArray",
@@ -48,7 +48,7 @@ VariableData droneVariableArray[] = {
         .valueRank = UA_VALUERANK_ONE_DIMENSION,
         .arrayDimensionsSize = 1,
         .arrayDimensions = speedArrayDims,
-        .getter.getArray = mavsdk_getSpeedArray,
+        .getter.getArray = getSpeedArray,
     },
     {
         .name = "message",

include/mavsdk_wrapper.h

-#ifndef __MAVSDK_H__
-#define __MAVSDK_H__
-
-/*
- * 0. latitude (double, degrees)
- * 1. longitude (double, degrees)
- * 2. absolute altitude (double, meters)
- * 3. relative altitude (double, meters)
-*/
-#define POSITION_ARRAY_SIZE 4
-/*
- * 0. yaw angle (float, degrees)
- * 1. air speed (float, m/s)
- * 2. climb rate (float, m/s)
-*/
-#define SPEED_ARRAY_SIZE 3
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-#include <stdint.h>
-// Connexion management functions
-int mavsdk_start(const char * ip, int port, const char * log_file, int timeout);
-int mavsdk_stop(bool shutdown);
-int mavsdk_reboot(void);
-
-// Flight state management functions
-int mavsdk_arm(void);
-int mavsdk_takeOff(void);
-int mavsdk_takeOffAndWait(void);
-int mavsdk_triggerParachute(void);
-
-// Flight management functions
-int mavsdk_loiter(float radius);
-int mavsdk_setAirspeed(float airspeed);
-int mavsdk_setTargetCoordinates(double la, double lo, float a);
-
-// Information functions
-float mavsdk_getAltitude(void);
-float mavsdk_getAltitudeRel(void);
-float mavsdk_getInitialAltitude(void);
-double mavsdk_getInitialLatitude(void);
-double mavsdk_getInitialLongitude(void);
-double mavsdk_getLatitude(void);
-double mavsdk_getLongitude(void);
-double *mavsdk_getPositionArray(void);
-float *mavsdk_getSpeedArray(void);
-double mavsdk_getTakeOffAltitude(void);
-float mavsdk_getYaw(void);
-float mavsdk_getSpeed(void);
-float mavsdk_getClimbRate(void);
-int mavsdk_healthAllOk(void);
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __MAVSDK_H__ */

include/pubsub.h

@@ -6,7 +6,9 @@
 
 #include <quickjs/quickjs.h>
 
+#ifndef DLL_PUBLIC
 #define DLL_PUBLIC __attribute__ ((visibility ("default")))
+#endif
 
 #define countof(x) (sizeof(x) / sizeof((x)[0]))
 

mavsdk_wrapper.cpp

-#include <chrono>
-#include <cmath>
-#include <cstdint>
-#include <mavsdk/mavsdk.h>
-#include <mavsdk/plugins/action/action.h>
-#include <mavsdk/plugins/mavlink_passthrough/mavlink_passthrough.h>
-#include <mavsdk/plugins/telemetry/telemetry.h>
-#include <iostream>
-#include <fstream>
-#include <functional>
-#include <future>
-#include <memory>
-#include <thread>
-
-#include "mavsdk_wrapper.h"
-
-using namespace mavsdk;
-using std::chrono::seconds;
-using std::this_thread::sleep_for;
-
-#define ERROR_CONSOLE_TEXT "\033[31m" // Turn text on console red
-#define NORMAL_CONSOLE_TEXT "\033[0m" // Restore normal console colour
-
-static std::ofstream log_file_fd;
-
-static Mavsdk _mavsdk;
-static Telemetry * telemetry;
-static Action * action;
-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 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
-
-static void log(std::string message) {
-    log_file_fd << message << std::endl;
-}
-
-static void log_error(std::string message) {
-    log(ERROR_CONSOLE_TEXT + message + NORMAL_CONSOLE_TEXT);
-}
-
-template <class Enumeration>
-static void log_error_from_result(std::string message, Enumeration result) {
-    std::ostringstream oss;
-    oss << message << ": " << result;
-    log_error(oss.str());
-}
-
-// Action functions
-
-static int doAction(Action::Result (Action::*toDo)(void) const, std::string failure_message) {
-    if(!mavsdk_started) {
-        log_error("Mavsdk not started");
-        return -1;
-    }
-
-    const Action::Result result = (action->*toDo)();
-    if(result != Action::Result::Success) {
-        log_error_from_result(failure_message, result);
-        return -1;
-    }
-    return 0;
-}
-
-static int doMavlinkCommand(MavlinkPassthrough::CommandLong command, std::string failure_message) {
-    const MavlinkPassthrough::Result result = mavlink_passthrough->send_command_long(command);
-    if(result != MavlinkPassthrough::Result::Success) {
-        log_error_from_result(failure_message, result);
-        return -1;
-    }
-    return 0;
-}
-
-// Connexion management functions
-
-static double toRad(double angle) {
-    return M_PI * angle / 180;
-}
-
-static double toDeg(double angle) {
-    return 180 * angle / M_PI;
-}
-
-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;
-    log_file_fd.open(log_file);
-
-    connection_result = _mavsdk.add_any_connection(connection_url);
-    if (connection_result != ConnectionResult::Success) {
-        log_error_from_result("Connection failed", connection_result);
-        return -1;
-    }
-
-    log("Waiting to discover msystem...");
-    fut = prom.get_future();
-
-    _mavsdk.subscribe_on_new_system([]() {
-        auto msystem_tmp = _mavsdk.systems().back();
-
-        if (msystem_tmp->has_autopilot()) {
-            log("Discovered autopilot");
-
-            // Unsubscribe again as we only want to find one system.
-            _mavsdk.subscribe_on_new_system(nullptr);
-            prom.set_value(msystem_tmp);
-        }
-    });
-
-    if (fut.wait_for(seconds(timeout)) == std::future_status::timeout) {
-        log_error("No autopilot found, exiting.");
-        return -1;
-    }
-
-    msystem = fut.get();
-    telemetry = new Telemetry(msystem);
-    action = new Action(msystem);
-    mavlink_passthrough = new MavlinkPassthrough(msystem);
-
-    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 {
-        log("Waiting for first telemetry");
-        sleep_for(seconds(1));
-        abs_altitude = mavsdk_getAltitude();
-    } while(isnan(abs_altitude) || abs_altitude == 0);
-    origin = telemetry->position();
-
-    log("MAVSDK started...");
-    mavsdk_started = 1;
-    log("timestamp (ms);latitude (°);longitude (°);AMSL (m);rel altitude (m);yaw (°);ground speed (m/s);climb rate (m/s)");
-    return 0;
-}
-
-int mavsdk_stop(bool shutdown) {
-    if (!mavsdk_started)
-        return -1;
-
-    if (shutdown) {
-        while (telemetry->armed())
-            sleep_for(seconds(1));
-        if (doAction(&Action::shutdown, "Shutdown failed"))
-            return -1;
-    }
-
-    // Delete pointers
-    delete action;
-    delete mavlink_passthrough;
-    delete telemetry;
-
-    log_file_fd << std::flush;
-    log_file_fd.close();
-
-    return 0;
-}
-
-int mavsdk_reboot() {
-    return doAction(&Action::reboot, "Rebooting failed");
-}
-
-// Flight state management functions
-
-int mavsdk_arm(void) {
-    if(!mavsdk_started)
-        return -1;
-
-    while(!telemetry->health().is_home_position_ok) {
-        log("Waiting for home position to be set");
-        sleep_for(seconds(1));
-    }
-
-    log("Arming...");
-    return doAction(&Action::arm, "Arming failed");
-}
-
-int mavsdk_takeOff(void) {
-    if (doAction(&Action::takeoff, "Takeoff failed"))
-        return -1;
-
-    return 0;
-}
-
-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 doAction(&Action::transition_to_fixedwing, "Transition to fixedwing failed");
-}
-
-int mavsdk_triggerParachute(void) {
-    if (!mavsdk_started)
-        return -1;
-
-    log("Landing...");
-    MavlinkPassthrough::CommandLong command;
-    command.command = MAV_CMD_DO_FLIGHTTERMINATION;
-    command.param1 = 1; //see https://mavlink.io/en/messages/common.html#MAV_CMD_DO_FLIGHTTERMINATION
-    command.target_sysid = mavlink_passthrough->get_target_sysid();
-    command.target_compid = mavlink_passthrough->get_target_compid();
-    return doMavlinkCommand(command, "Parachute release failed");
-}
-
-// Flight management functions
-
-static int doReposition(float la, float lo, float radius, float y) {
-    if (!mavsdk_started)
-        return -1;
-
-    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.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;
-
-    MavlinkPassthrough::CommandLong command;
-    command.command = MAV_CMD_DO_OVERRIDE;
-    command.param1 = 1 | 2 | 4 | 8;
-    command.param2 = 2 | 4 | 8;
-    command.param4 = airspeed;
-    command.target_sysid = mavlink_passthrough->get_target_sysid();
-    command.target_compid = mavlink_passthrough->get_target_compid();
-
-    return doMavlinkCommand(command, "Setting airspeed failed");
-}
-
-static int mavsdk_setAltitude(float altitude) {
-    if (!mavsdk_started)
-        return -1;
-
-    MavlinkPassthrough::CommandLong command;
-    command.command = MAV_CMD_DO_OVERRIDE;
-    command.param1 = 1 | 2 | 4 | 8;
-    command.param2 = 1 | 2 | 8;
-    command.param3 = altitude;
-    command.target_sysid = mavlink_passthrough->get_target_sysid();
-    command.target_compid = mavlink_passthrough->get_target_compid();
-
-    return doMavlinkCommand(command, "Setting altitude failed");
-}
-
-/*
- * 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);
-}
-
-int mavsdk_setTargetCoordinates(double la, double lo, float a) {
-    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;
-
-    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)
-    );
-
-    result = doReposition(
-        (float)toDeg(newLa),
-        (float)toDeg(newLo),
-        DEFAULT_RADIUS,
-        0
-    );
-    result |= mavsdk_setAltitude(a);
-    return result;
-}
-
-// Information functions
-
-float mavsdk_getAltitude(void) {
-    return telemetry->position().absolute_altitude_m;
-}
-
-float mavsdk_getAltitudeRel(void) {
-    return telemetry->position().relative_altitude_m;
-}
-
-float mavsdk_getInitialAltitude(void) {
-    return origin.absolute_altitude_m;
-}
-
-double mavsdk_getInitialLatitude(void) {
-    return origin.latitude_deg;
-}
-
-double mavsdk_getInitialLongitude(void) {
-    return origin.longitude_deg;
-}
-
-double mavsdk_getLatitude(void) {
-    return telemetry->position().latitude_deg;
-}
-
-double mavsdk_getLongitude(void) {
-    return telemetry->position().longitude_deg;
-}
-
-double *mavsdk_getPositionArray(void) {
-    Telemetry::Position position = telemetry->position();
-    double *positionArray = (double*) malloc(POSITION_ARRAY_SIZE * sizeof(double));
-    positionArray[0] = position.latitude_deg;
-    positionArray[1] = position.longitude_deg;
-    positionArray[2] = (double) position.absolute_altitude_m;
-    positionArray[3] = (double) position.relative_altitude_m;
-    return positionArray;
-}
-
-float *mavsdk_getSpeedArray(void) {
-    Telemetry::FixedwingMetrics metrics = telemetry->fixedwing_metrics();
-    float *speedArray = (float*) malloc(SPEED_ARRAY_SIZE * sizeof(float));
-    speedArray[0] = mavsdk_getYaw();
-    speedArray[1] = metrics.airspeed_m_s;
-    speedArray[2] = metrics.climb_rate_m_s;
-    return speedArray;
-}
-
-double mavsdk_getTakeOffAltitude(void) {
-    const std::pair<Action::Result, float> response = action->get_takeoff_altitude();
-
-    if (response.first != Action::Result::Success) {
-        log_error_from_result("Get takeoff altitude failed", response.first);
-        return -1;
-    }
-    return response.second;
-}
-
-float mavsdk_getYaw(void) {
-    return telemetry->attitude_euler().yaw_deg;
-}
-
-float mavsdk_getSpeed(void) {
-    return telemetry->fixedwing_metrics().airspeed_m_s;
-}
-
-float mavsdk_getClimbRate(void) {
-    return telemetry->fixedwing_metrics().climb_rate_m_s;
-}
-
-int mavsdk_healthAllOk(void) {
-    return telemetry->health_all_ok();
-}

qjs_wrapper.c

@@ -402,7 +402,7 @@ static JSValue js_stop_pubsub(JSContext *ctx, JSValueConst thisVal,
 
 // Connexion management functions
 
-static JSValue js_mavsdk_start(JSContext *ctx, JSValueConst thisVal,
+static JSValue js_start(JSContext *ctx, JSValueConst thisVal,
                                int argc, JSValueConst *argv)
 {
     const char *ip;
@@ -418,64 +418,64 @@ static JSValue js_mavsdk_start(JSContext *ctx, JSValueConst thisVal,
     if (JS_ToInt32(ctx, &timeout, argv[3]))
         return JS_EXCEPTION;
 
-    res = mavsdk_start(ip, port, log_file, timeout);
+    res = start(ip, port, log_file, timeout);
     JS_FreeCString(ctx, ip);
     JS_FreeCString(ctx, log_file);
 
     return JS_NewInt32(ctx, res);
 }
 
-static JSValue js_mavsdk_stop(JSContext *ctx, JSValueConst thisVal,
+static JSValue js_stop(JSContext *ctx, JSValueConst thisVal,
                               int argc, JSValueConst *argv)
 {
-    return JS_NewInt32(ctx, mavsdk_stop(JS_ToBool(ctx, argv[0])));
+    return JS_NewInt32(ctx, stop(JS_ToBool(ctx, argv[0])));
 }
 
-static JSValue js_mavsdk_reboot(JSContext *ctx, JSValueConst thisVal,
+static JSValue js_reboot(JSContext *ctx, JSValueConst thisVal,
                          int argc, JSValueConst *argv)
 {
-    return JS_NewInt32(ctx, mavsdk_reboot());
+    return JS_NewInt32(ctx, reboot());
 }
 
 // Flight state management functions
 
-static JSValue js_mavsdk_arm(JSContext *ctx, JSValueConst this_val,
+static JSValue js_arm(JSContext *ctx, JSValueConst this_val,
                              int argc, JSValueConst *argv)
 {
-    return JS_NewInt32(ctx, mavsdk_arm());
+    return JS_NewInt32(ctx, arm());
 }
 
-static JSValue js_mavsdk_takeOff(JSContext *ctx, JSValueConst thisVal,
+static JSValue js_takeOff(JSContext *ctx, JSValueConst thisVal,
                           int argc, JSValueConst *argv)
 {
-    return JS_NewInt32(ctx, mavsdk_takeOff());
+    return JS_NewInt32(ctx, takeOff());
 }
 
-static JSValue js_mavsdk_takeOffAndWait(JSContext *ctx, JSValueConst thisVal,
+static JSValue js_takeOffAndWait(JSContext *ctx, JSValueConst thisVal,
                                  int argc, JSValueConst *argv)
 {
-    return JS_NewInt32(ctx, mavsdk_takeOffAndWait());
+    return JS_NewInt32(ctx, takeOffAndWait());
 }
 
-static JSValue js_mavsdk_triggerParachute(JSContext *ctx, JSValueConst thisVal,
+static JSValue js_triggerParachute(JSContext *ctx, JSValueConst thisVal,
                                    int argc, JSValueConst *argv)
 {
-    return JS_NewInt32(ctx, mavsdk_triggerParachute());
+    return JS_NewInt32(ctx, triggerParachute());
 }
 
 // Flight management functions
 
-static JSValue js_mavsdk_loiter(JSContext *ctx, JSValueConst thisVal,
+static JSValue js_loiter(JSContext *ctx, JSValueConst thisVal,
                          int argc, JSValueConst *argv)
 {
     double radius;
     if (JS_ToFloat64(ctx, &radius, argv[0]))
         return JS_EXCEPTION;
 
-    return JS_NewInt32(ctx, mavsdk_loiter((float)radius));
+    return JS_NewInt32(ctx, loiter((float)radius));
 }
 
-static JSValue js_mavsdk_setAirspeed(JSContext *ctx, JSValueConst thisVal,
+static JSValue js_setAirspeed(JSContext *ctx, JSValueConst thisVal,
                               int argc, JSValueConst *argv)
 {
     double altitude;
@@ -483,10 +483,10 @@ static JSValue js_mavsdk_setAirspeed(JSContext *ctx, JSValueConst thisVal,
     if (JS_ToFloat64(ctx, &altitude, argv[0]))
         return JS_EXCEPTION;
 
-    return JS_NewInt32(ctx, mavsdk_setAirspeed((float)altitude));
+    return JS_NewInt32(ctx, setAirspeed((float)altitude));
 }
 
-static JSValue js_mavsdk_setTargetCoordinates(JSContext *ctx,
+static JSValue js_setTargetCoordinates(JSContext *ctx,
                                        JSValueConst thisVal,
                                        int argc, JSValueConst *argv)
 {
@@ -501,119 +501,119 @@ static JSValue js_mavsdk_setTargetCoordinates(JSContext *ctx,
     if (JS_ToFloat64(ctx, &a_arg_double, argv[2]))
         return JS_EXCEPTION;
 
-    return JS_NewInt32(ctx, mavsdk_setTargetCoordinates(la_arg_double,
+    return JS_NewInt32(ctx, setTargetCoordinates(la_arg_double,
                                                  lo_arg_double,
                                                  (float)a_arg_double));
 }
 
 // Information functions
 
-static JSValue js_mavsdk_getAltitude(JSContext *ctx, JSValueConst thisVal,
+static JSValue js_getAltitude(JSContext *ctx, JSValueConst thisVal,
                                      int argc, JSValueConst *argv)
 {
-    return JS_NewFloat64(ctx, mavsdk_getAltitude());
+    return JS_NewFloat64(ctx, getAltitude());
 }
 
-static JSValue js_mavsdk_getAltitudeRel(JSContext *ctx, JSValueConst thisVal,
+static JSValue js_getAltitudeRel(JSContext *ctx, JSValueConst thisVal,
                                  int argc, JSValueConst *argv)
 {
-    return JS_NewFloat64(ctx, mavsdk_getAltitudeRel());
+    return JS_NewFloat64(ctx, getAltitudeRel());
 }
 
-static JSValue js_mavsdk_getInitialAltitude(JSContext *ctx,
+static JSValue js_getInitialAltitude(JSContext *ctx,
                                      JSValueConst thisVal,
                                      int argc, JSValueConst *argv)
 {
-    return JS_NewFloat64(ctx, mavsdk_getInitialAltitude());
+    return JS_NewFloat64(ctx, getInitialAltitude());
 }
 
-static JSValue js_mavsdk_getInitialLatitude(JSContext *ctx,
+static JSValue js_getInitialLatitude(JSContext *ctx,
                                      JSValueConst thisVal,
                                      int argc, JSValueConst *argv)
 {
-    return JS_NewFloat64(ctx, mavsdk_getInitialLatitude());
+    return JS_NewFloat64(ctx, getInitialLatitude());
 }
 
-static JSValue js_mavsdk_getInitialLongitude(JSContext *ctx,
+static JSValue js_getInitialLongitude(JSContext *ctx,
                                       JSValueConst thisVal,
                                       int argc, JSValueConst *argv)
 {
-    return JS_NewFloat64(ctx, mavsdk_getInitialLongitude());
+    return JS_NewFloat64(ctx, getInitialLongitude());
 }
 
-static JSValue js_mavsdk_getLatitude(JSContext *ctx, JSValueConst thisVal,
+static JSValue js_getLatitude(JSContext *ctx, JSValueConst thisVal,
                               int argc, JSValueConst *argv)
 {
-    return JS_NewFloat64(ctx, mavsdk_getLatitude());
+    return JS_NewFloat64(ctx, getLatitude());
 }
 
-static JSValue js_mavsdk_getLongitude(JSContext *ctx, JSValueConst thisVal,
+static JSValue js_getLongitude(JSContext *ctx, JSValueConst thisVal,
                                int argc, JSValueConst *argv)
 {
-    return JS_NewFloat64(ctx, mavsdk_getLongitude());
+    return JS_NewFloat64(ctx, getLongitude());
 }
 
-static JSValue js_mavsdk_getTakeOffAltitude(JSContext *ctx,
+static JSValue js_getTakeOffAltitude(JSContext *ctx,
                                      JSValueConst thisVal,
                                      int argc, JSValueConst *argv)
 {
-    return JS_NewFloat64(ctx, mavsdk_getTakeOffAltitude());
+    return JS_NewFloat64(ctx, getTakeOffAltitude());
 }
 
-static JSValue js_mavsdk_getYaw(JSContext *ctx, JSValueConst thisVal,
+static JSValue js_getYaw(JSContext *ctx, JSValueConst thisVal,
                                 int argc, JSValueConst *argv)
 {
-    return JS_NewFloat64(ctx, mavsdk_getYaw());
+    return JS_NewFloat64(ctx, getYaw());
 }
 
-static JSValue js_mavsdk_getSpeed(JSContext *ctx, JSValueConst thisVal,
+static JSValue js_getSpeed(JSContext *ctx, JSValueConst thisVal,
                                   int argc, JSValueConst *argv)
 {
-    return JS_NewFloat64(ctx, mavsdk_getSpeed());
+    return JS_NewFloat64(ctx, getSpeed());
 }
 
-static JSValue js_mavsdk_getClimbRate(JSContext *ctx, JSValueConst thisVal,
+static JSValue js_getClimbRate(JSContext *ctx, JSValueConst thisVal,
                                int argc, JSValueConst *argv)
 {
-    return JS_NewFloat64(ctx, mavsdk_getClimbRate());
+    return JS_NewFloat64(ctx, getClimbRate());
 }
 
-static JSValue js_mavsdk_healthAllOk(JSContext *ctx, JSValueConst this_val,
+static JSValue js_healthAllOk(JSContext *ctx, JSValueConst this_val,
                               int argc, JSValueConst *argv)
 {
-    return JS_NewBool(ctx, mavsdk_healthAllOk());
+    return JS_NewBool(ctx, healthAllOk());
 }
 
-static const JSCFunctionListEntry js_mavsdk_funcs[] = {
+static const JSCFunctionListEntry js_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", 4, js_mavsdk_start ),
-    JS_CFUNC_DEF("stop", 1, js_mavsdk_stop ),
-    JS_CFUNC_DEF("reboot", 0, js_mavsdk_reboot ),
-    JS_CFUNC_DEF("arm", 0, js_mavsdk_arm ),
-    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("setTargetCoordinates", 3, js_mavsdk_setTargetCoordinates ),
-    JS_CFUNC_DEF("getAltitude", 0, js_mavsdk_getAltitude ),
-    JS_CFUNC_DEF("getAltitudeRel", 0, js_mavsdk_getAltitudeRel ),
-    JS_CFUNC_DEF("getInitialAltitude", 0, js_mavsdk_getInitialAltitude ),
-    JS_CFUNC_DEF("getInitialLatitude", 0, js_mavsdk_getInitialLatitude ),
-    JS_CFUNC_DEF("getInitialLongitude", 0, js_mavsdk_getInitialLongitude ),
-    JS_CFUNC_DEF("getLatitude", 0, js_mavsdk_getLatitude ),
-    JS_CFUNC_DEF("getLongitude", 0, js_mavsdk_getLongitude ),
-    JS_CFUNC_DEF("getTakeOffAltitude", 0, js_mavsdk_getTakeOffAltitude ),
-    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("healthAllOk", 0, js_mavsdk_healthAllOk ),
+    JS_CFUNC_DEF("start", 4, js_start ),
+    JS_CFUNC_DEF("stop", 1, js_stop ),
+    JS_CFUNC_DEF("reboot", 0, js_reboot ),
+    JS_CFUNC_DEF("arm", 0, js_arm ),
+    JS_CFUNC_DEF("takeOff", 0, js_takeOff ),
+    JS_CFUNC_DEF("takeOffAndWait", 0, js_takeOffAndWait ),
+    JS_CFUNC_DEF("triggerParachute", 0, js_triggerParachute ),
+    JS_CFUNC_DEF("loiter", 1, js_loiter ),
+    JS_CFUNC_DEF("setAirspeed", 1, js_setAirspeed ),
+    JS_CFUNC_DEF("setTargetCoordinates", 3, js_setTargetCoordinates ),
+    JS_CFUNC_DEF("getAltitude", 0, js_getAltitude ),
+    JS_CFUNC_DEF("getAltitudeRel", 0, js_getAltitudeRel ),
+    JS_CFUNC_DEF("getInitialAltitude", 0, js_getInitialAltitude ),
+    JS_CFUNC_DEF("getInitialLatitude", 0, js_getInitialLatitude ),
+    JS_CFUNC_DEF("getInitialLongitude", 0, js_getInitialLongitude ),
+    JS_CFUNC_DEF("getLatitude", 0, js_getLatitude ),
+    JS_CFUNC_DEF("getLongitude", 0, js_getLongitude ),
+    JS_CFUNC_DEF("getTakeOffAltitude", 0, js_getTakeOffAltitude ),
+    JS_CFUNC_DEF("getYaw", 0, js_getYaw ),
+    JS_CFUNC_DEF("getAirspeed", 0, js_getSpeed ),
+    JS_CFUNC_DEF("getClimbRate", 0, js_getClimbRate ),
+    JS_CFUNC_DEF("healthAllOk", 0, js_healthAllOk ),
     JS_CFUNC_DEF("initPubsub", 1, js_init_pubsub ),
 };
 
-static int js_mavsdk_init(JSContext *ctx, JSModuleDef *m)
+static int js_init(JSContext *ctx, JSModuleDef *m)
 {
     JSValue droneProto, droneClass;
 
@@ -631,17 +631,17 @@ static int js_mavsdk_init(JSContext *ctx, JSModuleDef *m)
 
     JS_SetModuleExport(ctx, m, "Drone", droneClass);
 
-    return JS_SetModuleExportList(ctx, m, js_mavsdk_funcs,
-                                  countof(js_mavsdk_funcs));
+    return JS_SetModuleExportList(ctx, m, js_funcs,
+                                  countof(js_funcs));
 }
 
 JSModuleDef *js_init_module(JSContext *ctx, const char *module_name)
 {
     JSModuleDef *m;
-    m = JS_NewCModule(ctx, module_name, js_mavsdk_init);
+    m = JS_NewCModule(ctx, module_name, js_init);
     if (!m)
         return NULL;
-    JS_AddModuleExportList(ctx, m, js_mavsdk_funcs, countof(js_mavsdk_funcs));
+    JS_AddModuleExportList(ctx, m, js_funcs, countof(js_funcs));
     JS_AddModuleExport(ctx, m, "Drone");
     return m;
 }