1 files changed, 43 insertions, 0 deletions
diff --git a/mavlink/share/pyshared/pymavlink/examples/mavtester.py b/mavlink/share/pyshared/pymavlink/examples/mavtester.py
new file mode 100644
index 000000000..8b5284f3f
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/examples/mavtester.py
@@ -0,0 +1,43 @@
+#!/usr/bin/env python
+
+'''
+test mavlink messages
+'''
+
+import sys, struct, time, os
+from curses import ascii
+
+# 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 mavlink, mavtest, mavutil
+
+from optparse import OptionParser
+parser = OptionParser("mavtester.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("--source-system", dest='SOURCE_SYSTEM', type='int',
+                  default=255, help='MAVLink source system for this GCS')
+(opts, args) = parser.parse_args()
+
+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")
+    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(opts.device, baud=opts.baudrate, source_system=opts.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)
+