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55 lines
1.1 KiB
55 lines
1.1 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- |
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/* |
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send all possible mavlink messages |
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Andrew Tridgell July 2011 |
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*/ |
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// AVR runtime |
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#include <avr/io.h> |
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#include <avr/eeprom.h> |
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#include <avr/pgmspace.h> |
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#include <math.h> |
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// Libraries |
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#include <FastSerial.h> |
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#include <AP_Common.h> |
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#include <GCS_MAVLink.h> |
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#include "mavtest.h" |
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FastSerialPort0(Serial); // FTDI/console |
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FastSerialPort1(Serial1); // GPS port |
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FastSerialPort3(Serial3); // Telemetry port |
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#define SERIAL0_BAUD 115200 |
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#define SERIAL3_BAUD 115200 |
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void setup() { |
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Serial.begin(SERIAL0_BAUD, 128, 128); |
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Serial3.begin(SERIAL3_BAUD, 128, 128); |
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mavlink_comm_0_port = &Serial; |
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mavlink_comm_1_port = &Serial3; |
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} |
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void loop() |
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{ |
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Serial.println("Starting MAVLink test generator\n"); |
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while (1) { |
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mavlink_msg_heartbeat_send( |
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MAVLINK_COMM_0, |
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mavlink_system.type, |
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MAV_AUTOPILOT_ARDUPILOTMEGA); |
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mavlink_msg_heartbeat_send( |
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MAVLINK_COMM_1, |
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mavlink_system.type, |
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MAV_AUTOPILOT_ARDUPILOTMEGA); |
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mavtest_generate_outputs(MAVLINK_COMM_0); |
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mavtest_generate_outputs(MAVLINK_COMM_1); |
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delay(500); |
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} |
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} |
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