rc_bluesim.py

"""
Example of how to use RC_CHANNEL_OVERRIDE messages to force input channels
in Ardupilot. These effectively replace the input channels (from joystick
or radio), NOT the output channels going to thrusters and servos.
"""

# Import mavutil
from pymavlink import mavutil

# Create the connection
master = mavutil.mavlink_connection('tcp:127.0.0.1:5760')
# Wait a heartbeat before sending commands
master.wait_heartbeat()

def is_armed():
    try:
        return bool(master.wait_heartbeat().base_mode & 0b10000000)
    except:
        return False


while not is_armed():
    master.arducopter_arm()


# Create a function to send RC values
# More information about Joystick channels
# here: https://www.ardusub.com/operators-manual/rc-input-and-output.html#rc-inputs
def set_rc_channel_pwm(channel_id, pwm=1500):
    """ Set RC channel pwm value
    Args:
        channel_id (TYPE): Channel ID
        pwm (int, optional): Channel pwm value 1100-1900
    """
    if channel_id < 1 or channel_id > 18:
        print("Channel does not exist.")
        return

    # Mavlink 2 supports up to 18 channels:
    # https://mavlink.io/en/messages/common.html#RC_CHANNELS_OVERRIDE
    rc_channel_values = [65535 for _ in range(8)]
    rc_channel_values[channel_id - 1] = pwm
    master.mav.rc_channels_override_send(
        master.target_system,                # target_system
        master.target_component,             # target_component
        *rc_channel_values)                  # RC channel list, in microseconds.


# Set some yaw
set_rc_channel_pwm(5, 1800)