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#!/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)
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