mavtester.py
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00001 #!/usr/bin/env python
00002 
00003 '''
00004 test mavlink messages
00005 '''
00006 
00007 import sys, struct, time, os
00008 from curses import ascii
00009 
00010 from pymavlink import mavtest, mavutil
00011 
00012 from argparse import ArgumentParser
00013 parser = ArgumentParser(description=__doc__)
00014 
00015 parser.add_argument("--baudrate", type=int,
00016                   help="master port baud rate", default=115200)
00017 parser.add_argument("--device", required=True, help="serial device")
00018 parser.add_argument("--source-system", dest='SOURCE_SYSTEM', type=int,
00019                   default=255, help='MAVLink source system for this GCS')
00020 args = parser.parse_args()
00021 
00022 def wait_heartbeat(m):
00023     '''wait for a heartbeat so we know the target system IDs'''
00024     print("Waiting for APM heartbeat")
00025     msg = m.recv_match(type='HEARTBEAT', blocking=True)
00026     print("Heartbeat from APM (system %u component %u)" % (m.target_system, m.target_system))
00027 
00028 # create a mavlink serial instance
00029 master = mavutil.mavlink_connection(args.device, baud=args.baudrate, source_system=args.SOURCE_SYSTEM)
00030 
00031 # wait for the heartbeat msg to find the system ID
00032 wait_heartbeat(master)
00033 
00034 print("Sending all message types")
00035 mavtest.generate_outputs(master.mav)
00036 


mavlink
Author(s): Lorenz Meier
autogenerated on Wed Sep 9 2015 18:06:17