1 files changed, 55 insertions, 0 deletions
diff --git a/mavlink/share/pyshared/pymavlink/APM_Mavtest/APM_Mavtest.pde b/mavlink/share/pyshared/pymavlink/APM_Mavtest/APM_Mavtest.pde
new file mode 100644
index 000000000..b903b5c16
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/APM_Mavtest/APM_Mavtest.pde
@@ -0,0 +1,55 @@
+/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
+
+/*
+  send all possible mavlink messages
+  Andrew Tridgell July 2011
+*/
+
+// AVR runtime
+#include <avr/io.h>
+#include <avr/eeprom.h>
+#include <avr/pgmspace.h>
+#include <math.h>
+
+// Libraries
+#include <FastSerial.h>
+#include <AP_Common.h>
+#include <GCS_MAVLink.h>
+#include "mavtest.h"
+
+FastSerialPort0(Serial);        // FTDI/console
+FastSerialPort1(Serial1);       // GPS port
+FastSerialPort3(Serial3);       // Telemetry port
+
+#define SERIAL0_BAUD 115200
+#define SERIAL3_BAUD 115200
+
+void setup() {
+	Serial.begin(SERIAL0_BAUD, 128, 128);
+	Serial3.begin(SERIAL3_BAUD, 128, 128);
+	mavlink_comm_0_port = &Serial;
+	mavlink_comm_1_port = &Serial3;
+}
+
+
+
+void loop()
+{
+	Serial.println("Starting MAVLink test generator\n");
+	while (1) {
+		mavlink_msg_heartbeat_send(
+			MAVLINK_COMM_0,
+			mavlink_system.type,
+			MAV_AUTOPILOT_ARDUPILOTMEGA);
+
+		mavlink_msg_heartbeat_send(
+			MAVLINK_COMM_1,
+			mavlink_system.type,
+			MAV_AUTOPILOT_ARDUPILOTMEGA);
+
+		mavtest_generate_outputs(MAVLINK_COMM_0);
+		mavtest_generate_outputs(MAVLINK_COMM_1);
+		delay(500);
+	}
+}
+