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67 lines
2.3 KiB
67 lines
2.3 KiB
#!/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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import sys, struct, time, os |
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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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from optparse import OptionParser |
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parser = OptionParser("apmsetrate.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("--rate", dest="rate", default=4, type='int', help="requested stream rate") |
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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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parser.add_option("--showmessages", dest="showmessages", action='store_true', |
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help="show incoming messages", default=False) |
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parser.add_option("--mav10", action='store_true', default=False, help="Use MAVLink protocol 1.0") |
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(opts, args) = parser.parse_args() |
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if opts.mav10: |
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os.environ['MAVLINK10'] = '1' |
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import mavlink10 as mavlink |
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else: |
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import mavlink |
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import mavutil |
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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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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(opts.device, baud=opts.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" % opts.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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mavlink.MAV_DATA_STREAM_ALL, opts.rate, 1) |
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if opts.showmessages: |
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show_messages(master)
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