#!/usr/bin/env python import pexpect, time, sys from pymavlink import mavutil def wait_heartbeat(mav, timeout=10): '''wait for a heartbeat''' start_time = time.time() while time.time() < start_time+timeout: if mav.recv_match(type='HEARTBEAT', blocking=True, timeout=0.5) is not None: return failure("Failed to get heartbeat") def wait_mode(mav, modes, timeout=10): '''wait for one of a set of flight modes''' start_time = time.time() last_mode = None while time.time() < start_time+timeout: wait_heartbeat(mav, timeout=10) if mav.flightmode != last_mode: print("Flightmode %s" % mav.flightmode) last_mode = mav.flightmode if mav.flightmode in modes: return print("Failed to get mode from %s" % modes) sys.exit(1) def wait_time(mav, simtime): '''wait for simulation time to pass''' imu = mav.recv_match(type='RAW_IMU', blocking=True) t1 = imu.time_usec*1.0e-6 while True: imu = mav.recv_match(type='RAW_IMU', blocking=True) t2 = imu.time_usec*1.0e-6 if t2 - t1 > simtime: break cmd = 'sim_vehicle.sh -j4 -D -L KSFO -S5' mavproxy = pexpect.spawn(cmd, logfile=sys.stdout, timeout=30) mavproxy.expect("Ready to FLY") mav = mavutil.mavlink_connection('127.0.0.1:14550') wait_time(mav, 12) mavproxy.send('arm throttle\n') mavproxy.expect('ARMED') mavproxy.send('alt_hold\n') wait_mode(mav, ['ALT_HOLD']) mavproxy.send('rc 3 1800\n') mavproxy.send('param set CH7_OPT 2\n') mavproxy.send('repeat add 2 rc 7 2000\n') wait_time(mav, 1) mavproxy.send('repeat add 2 rc 7 1000\n') mavproxy.logfile = None mavproxy.interact()