mirror of https://github.com/ArduPilot/ardupilot
39 lines
1.3 KiB
Lua
39 lines
1.3 KiB
Lua
local mavlink_msgs = require("mavlink/mavlink_msgs")
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local msg_map = {}
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local heartbeat_msgid = mavlink_msgs.get_msgid("HEARTBEAT")
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msg_map[heartbeat_msgid] = "HEARTBEAT"
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-- initialise mavlink rx with number of messages, and buffer depth
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mavlink.init(1, 10)
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-- register message id to receive
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mavlink.register_rx_msgid(heartbeat_msgid)
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local test_named_value = 0.0
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function str_to_bytes(str)
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local str_len = string.len(str)
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local bytes = {}
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for i = 1, str_len do
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bytes[i] = string.byte(str, i)
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end
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return bytes
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end
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function update()
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local msg,chan,timestamp_ms = mavlink.receive_chan()
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if msg then
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gcs:send_text(6, string.format("Received message on channel %d at %s", chan, tostring(timestamp_ms)))
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local parsed_msg = mavlink_msgs.decode(msg, msg_map)
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if parsed_msg.msgid == heartbeat_msgid then
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gcs:send_text(6, string.format("Received heartbeat from %d", parsed_msg.sysid))
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end
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else
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gcs:send_text(6, "No heartbeat received")
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end
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test_named_value = test_named_value + 1.0
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-- send named value float
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mavlink.send_chan(0, mavlink_msgs.encode("NAMED_VALUE_FLOAT", {time_boot_ms = millis():toint(), name = str_to_bytes("test"), value = test_named_value}))
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return update, 1000
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end
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return update()
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