#!/usr/bin/env python
import sys, struct, time, os
import establish_connection as con
# Create an connection (by default device = '/dev/ttyAMA0', baudrate = 57600)
master = con.create_mavlink_connection()
# Declaring variables
t1 = time.time()
counts = {}
bytes_sent = 0
bytes_recv = 0
# Heartbeat confirmation
print("Wait for heartbeat")
master.wait_heartbeat()
print("Heartbeat received!")
# Test BW
while True:
master.mav.heartbeat_send(1, 1, 1, 1, 1, 1)
#master.mav.sys_status_send(1, 2, 3, 4, 5, 6, 7, 1, 1, 1, 1, 1, 1)
#master.mav.attitude_send(1, 2, 3, 4, 5, 6, 7)
#master.mav.vfr_hud_send(1, 2, 3, 4, 5, 6)
while master.port.inWaiting() > 0:
m = master.recv_msg()
if m == None: break
if m.get_type() not in counts:
counts[m.get_type()] = 0
counts[m.get_type()] += 1
def __init__(self, name, cmd_fcn, need_param = False):
self.name = name
self.mavfile = establish_connection.create_mavlink_connection()
self.cmd_fcn = cmd_fcn
self.need_param = need_param
