57 lines
1.9 KiB
Python
57 lines
1.9 KiB
Python
#!/usr/bin/env python
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'''
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set stream rate on an APM
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'''
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from __future__ import print_function
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from builtins import range
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import sys
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from argparse import ArgumentParser
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parser = ArgumentParser(description=__doc__)
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parser.add_argument("--baudrate", type=int,
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help="master port baud rate", default=115200)
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parser.add_argument("--device", required=True, help="serial device")
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parser.add_argument("--rate", default=4, type=int, help="requested stream rate")
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parser.add_argument("--source-system", dest='SOURCE_SYSTEM', type=int,
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default=255, help='MAVLink source system for this GCS')
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parser.add_argument("--showmessages", action='store_true',
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help="show incoming messages", default=False)
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args = parser.parse_args()
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from pymavlink import mavutil
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def wait_heartbeat(m):
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'''wait for a heartbeat so we know the target system IDs'''
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print("Waiting for APM heartbeat")
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m.wait_heartbeat()
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print("Heartbeat from APM (system %u component %u)" % (m.target_system, m.target_system))
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def show_messages(m):
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'''show incoming mavlink messages'''
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while True:
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msg = m.recv_match(blocking=True)
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if not msg:
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return
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if msg.get_type() == "BAD_DATA":
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if mavutil.all_printable(msg.data):
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sys.stdout.write(msg.data)
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sys.stdout.flush()
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else:
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print(msg)
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# create a mavlink serial instance
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master = mavutil.mavlink_connection(args.device, baud=args.baudrate)
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# wait for the heartbeat msg to find the system ID
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wait_heartbeat(master)
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print("Sending all stream request for rate %u" % args.rate)
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for i in range(0, 3):
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master.mav.request_data_stream_send(master.target_system, master.target_component,
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mavutil.mavlink.MAV_DATA_STREAM_ALL, args.rate, 1)
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if args.showmessages:
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show_messages(master)
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