1 files changed, 67 insertions, 0 deletions
diff --git a/mavlink/share/pyshared/pymavlink/examples/apmsetrate.py b/mavlink/share/pyshared/pymavlink/examples/apmsetrate.py
new file mode 100644
index 000000000..d7d82256c
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/examples/apmsetrate.py
@@ -0,0 +1,67 @@
+#!/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)