MAVLink simple message receiver 接通了 再來要實裝 node topic

src/unitdev02/unitdev02/test01.py

@@ -205,6 +205,21 @@ def mavlink_btye_generator_test():
         custom_mode=0,
         system_status=mavutil.mavlink.MAV_STATE_ACTIVE
     )
+    msg = mav.command_long_encode(
+        target_system=1,
+        target_component=1,
+        command=mavutil.mavlink.MAV_CMD_DO_SET_MODE,
+        confirmation=0,
+        param1=0,  # Custom mode
+        param2=0,  # Custom sub-mode
+        param3=0,
+        param4=0,
+        param5=0,
+        param6=0,
+        param7=0
+    )
+
+
 
     # 取得 MAVLink 訊息的 bytes
     mavlink_bytes = msg.pack(mav)
@@ -219,6 +234,19 @@ def mavlink_btye_generator_test():
     print(dir(mav2))
     # print(my_msg)
 
+def simple_getMavlink():
+    connection_string="udp:127.0.0.1:14550"
+    # connection_string='/dev/ttyUSB0'
+    connection = mavutil.mavlink_connection(connection_string)
+
+    while True:
+        msg = connection.recv_msg()
+        if msg:
+            print(msg)
+        else:
+            print('No message yet, 0.1 second for data to fill')
+            sleep(0.1)
+
 
 
 print('Start')
@@ -226,5 +254,6 @@ print('Start')
 # fdm_parser_example()
 # mavlink_analyzer_simple(8)
 # mavlink_btye_generator_test()
+simple_getMavlink()