diff options
Diffstat (limited to 'mavlink/share/pyshared/pymavlink/examples/apmsetrate.py')
-rw-r--r-- | mavlink/share/pyshared/pymavlink/examples/apmsetrate.py | 67 |
1 files changed, 0 insertions, 67 deletions
diff --git a/mavlink/share/pyshared/pymavlink/examples/apmsetrate.py b/mavlink/share/pyshared/pymavlink/examples/apmsetrate.py deleted file mode 100644 index d7d82256c..000000000 --- a/mavlink/share/pyshared/pymavlink/examples/apmsetrate.py +++ /dev/null @@ -1,67 +0,0 @@ -#!/usr/bin/env python - -''' -set stream rate on an APM -''' - -import sys, struct, time, os - -# allow import from the parent directory, where mavlink.py is -sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..')) - -from optparse import OptionParser -parser = OptionParser("apmsetrate.py [options]") - -parser.add_option("--baudrate", dest="baudrate", type='int', - help="master port baud rate", default=115200) -parser.add_option("--device", dest="device", default=None, help="serial device") -parser.add_option("--rate", dest="rate", default=4, type='int', help="requested stream rate") -parser.add_option("--source-system", dest='SOURCE_SYSTEM', type='int', - default=255, help='MAVLink source system for this GCS') -parser.add_option("--showmessages", dest="showmessages", action='store_true', - help="show incoming messages", default=False) -parser.add_option("--mav10", action='store_true', default=False, help="Use MAVLink protocol 1.0") -(opts, args) = parser.parse_args() - -if opts.mav10: - os.environ['MAVLINK10'] = '1' - import mavlink10 as mavlink -else: - import mavlink -import mavutil - -if opts.device is None: - print("You must specify a serial device") - sys.exit(1) - -def wait_heartbeat(m): - '''wait for a heartbeat so we know the target system IDs''' - print("Waiting for APM heartbeat") - m.wait_heartbeat() - print("Heartbeat from APM (system %u component %u)" % (m.target_system, m.target_system)) - -def show_messages(m): - '''show incoming mavlink messages''' - while True: - msg = m.recv_match(blocking=True) - if not msg: - return - if msg.get_type() == "BAD_DATA": - if mavutil.all_printable(msg.data): - sys.stdout.write(msg.data) - sys.stdout.flush() - else: - print(msg) - -# create a mavlink serial instance -master = mavutil.mavlink_connection(opts.device, baud=opts.baudrate) - -# wait for the heartbeat msg to find the system ID -wait_heartbeat(master) - -print("Sending all stream request for rate %u" % opts.rate) -for i in range(0, 3): - master.mav.request_data_stream_send(master.target_system, master.target_component, - mavlink.MAV_DATA_STREAM_ALL, opts.rate, 1) -if opts.showmessages: - show_messages(master) |