func (m *MavlinkDriver) Start() (errs []error) {
	go func() {
		for {
			packet, err := common.ReadMAVLinkPacket(m.adaptor().sp)
			if err != nil {
				m.Publish(ErrorIOEvent, err)
				continue
			}
			m.Publish(PacketEvent, packet)
			message, err := packet.MAVLinkMessage()
			if err != nil {
				m.Publish(ErrorMAVLinkEvent, err)
				continue
			}
			m.Publish(MessageEvent, message)
			<-time.After(m.interval)
		}
	}()
	return
}
Start begins process to read mavlink packets every m.Interval
and process them
package mavlink
import (
	"time"
	"github.com/hybridgroup/gobot"
	common "github.com/hybridgroup/gobot/platforms/mavlink/common"
)
const (
	PacketEvent = "packet"
	MessageEvent = "message"
	ErrorIOEvent = "errorIO"
	ErrorMAVLinkEvent = "errorMAVLink"
)
type MavlinkDriver struct {
	name       string
	connection gobot.Connection
	interval   time.Duration
	gobot.Eventer
}
type MavlinkInterface interface {
}
func NewMavlinkDriver(a *MavlinkAdaptor, name string, v ...time.Duration) *MavlinkDriver {
	m := &MavlinkDriver{
		name:       name,
		connection: a,
		Eventer:    gobot.NewEventer(),
		interval:   10 * time.Millisecond,
	}
	if len(v) > 0 {
		m.interval = v[0]
	}
	m.AddEvent(PacketEvent)
	m.AddEvent(MessageEvent)
	m.AddEvent(ErrorIOEvent)
	m.AddEvent(ErrorMAVLinkEvent)
	return m
}
func (m *MavlinkDriver) Connection() gobot.Connection { return m.connection }
func (m *MavlinkDriver) Name() string                 { return m.name }
func (m *MavlinkDriver) adaptor() *MavlinkAdaptor {
	return m.Connection().(*MavlinkAdaptor)
}