1 files changed, 58 insertions, 0 deletions
diff --git a/mavlink/share/pyshared/pymavlink/examples/bwtest.py b/mavlink/share/pyshared/pymavlink/examples/bwtest.py
new file mode 100644
index 000000000..de56d4f8c
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/examples/bwtest.py
@@ -0,0 +1,58 @@
+#!/usr/bin/env python
+
+'''
+check bandwidth of link
+'''
+
+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__)), '..'))
+
+import mavutil
+
+from optparse import OptionParser
+parser = OptionParser("bwtest.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")
+(opts, args) = parser.parse_args()
+
+if opts.device is None:
+    print("You must specify a serial device")
+    sys.exit(1)
+
+# create a mavlink serial instance
+master = mavutil.mavlink_connection(opts.device, baud=opts.baudrate)
+
+t1 = time.time()
+
+counts = {}
+
+bytes_sent = 0
+bytes_recv = 0
+
+while True:
+    master.mav.heartbeat_send(1, 1)
+    master.mav.sys_status_send(1, 2, 3, 4, 5, 6, 7)
+    master.mav.gps_raw_send(1, 2, 3, 4, 5, 6, 7, 8, 9)
+    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
+    t2 = time.time()
+    if t2 - t1 > 1.0:
+        print("%u sent, %u received, %u errors bwin=%.1f kB/s bwout=%.1f kB/s" % (
+            master.mav.total_packets_sent,
+            master.mav.total_packets_received,
+            master.mav.total_receive_errors,
+            0.001*(master.mav.total_bytes_received-bytes_recv)/(t2-t1),
+            0.001*(master.mav.total_bytes_sent-bytes_sent)/(t2-t1)))
+        bytes_sent = master.mav.total_bytes_sent
+        bytes_recv = master.mav.total_bytes_received
+        t1 = t2