MAVLink with Node Experimentation

import { connect } from 'net'
import { MavLinkPacketSplitter, MavLinkPacketParser, common, minimal, send, MavLinkProtocolV2 } from 'node-mavlink'

const REGISTRY = {
    ...minimal.REGISTRY,
    ...common.REGISTRY,
};

let port;
async function main() {


    port = connect({ host: ip, port: 31516 })

    const reader = port
        .pipe(new MavLinkPacketSplitter())
        .pipe(new MavLinkPacketParser())

    //const command = new common.RequestProtocolVersionCommand();

    const takeoffCommand = new common.NavTakeoffCommand(1, 1);
    takeoffCommand.altitude = 20;

    const armCommand = new common.ComponentArmDisarmCommand(1, 1);
    armCommand.arm = 1;

    // command.confirmation = 1;

    port.on('connect', () => {
        console.log('Connected!')
        // console.log(command);
        // send(port, command, new MavLinkProtocolV2());

        send(port, armCommand, new MavLinkProtocolV2());
    });

    reader.on('data', (packet) => {

        const clazz = REGISTRY[packet.header.msgid]

        if (clazz) {
            const data = packet.protocol.data(packet.payload, clazz)
            //console.log('>', data)
        } else {
            //console.log('!', packet.debug())
        }

    });

}

async function getParams() {
    const message = new common.ParamRequestList()
    message.targetSystem = 1
    message.targetComponent = 1
    await send(port, message, new MavLinkProtocolV1());
}


main()