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43 lines
1.4 KiB
43 lines
1.4 KiB
#!/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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