watchrobot/modules/mavlink/pymavlink/examples/mavtester.py

#!/usr/bin/env python

'''
test mavlink messages
'''
from __future__ import print_function

from pymavlink import mavtest, mavutil

from argparse import ArgumentParser
parser = ArgumentParser(description=__doc__)

parser.add_argument("--baudrate", type=int,
                  help="master port baud rate", default=115200)
parser.add_argument("--device", required=True, help="serial device")
parser.add_argument("--source-system", dest='SOURCE_SYSTEM', type=int,
                  default=255, help='MAVLink source system for this GCS')
args = parser.parse_args()

def wait_heartbeat(m):
    '''wait for a heartbeat so we know the target system IDs'''
    print("Waiting for APM heartbeat")
    msg = m.recv_match(type='HEARTBEAT', blocking=True)
    print("Heartbeat from APM (system %u component %u)" % (m.target_system, m.target_system))

# create a mavlink serial instance
master = mavutil.mavlink_connection(args.device, baud=args.baudrate, source_system=args.SOURCE_SYSTEM)

# wait for the heartbeat msg to find the system ID
wait_heartbeat(master)

print("Sending all message types")
mavtest.generate_outputs(master.mav)