35 lines
1.1 KiB
Python
35 lines
1.1 KiB
Python
#!/usr/bin/env python
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'''
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test mavlink messages
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'''
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from __future__ import print_function
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from pymavlink import mavtest, mavutil
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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("--source-system", dest='SOURCE_SYSTEM', type=int,
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default=255, help='MAVLink source system for this GCS')
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args = parser.parse_args()
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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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msg = m.recv_match(type='HEARTBEAT', blocking=True)
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print("Heartbeat from APM (system %u component %u)" % (m.target_system, m.target_component))
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# create a mavlink serial instance
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master = mavutil.mavlink_connection(args.device, baud=args.baudrate, source_system=args.SOURCE_SYSTEM)
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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 message types")
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mavtest.generate_outputs(master.mav)
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