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#!/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)
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