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44 lines
1.4 KiB
44 lines
1.4 KiB
13 years ago
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#!/usr/bin/env python
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'''
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test mavlink messages
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'''
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import sys, struct, time, os
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from curses import ascii
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# allow import from the parent directory, where mavlink.py is
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sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
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import mavlink, mavtest, mavutil
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from optparse import OptionParser
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parser = OptionParser("mavtester.py [options]")
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parser.add_option("--baudrate", dest="baudrate", type='int',
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help="master port baud rate", default=115200)
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parser.add_option("--device", dest="device", default=None, help="serial device")
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parser.add_option("--source-system", dest='SOURCE_SYSTEM', type='int',
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default=255, help='MAVLink source system for this GCS')
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(opts, args) = parser.parse_args()
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if opts.device is None:
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print("You must specify a serial device")
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sys.exit(1)
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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_system))
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# create a mavlink serial instance
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master = mavutil.mavlink_connection(opts.device, baud=opts.baudrate, source_system=opts.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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