#!/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