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/// -*- 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);
}
}
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