MAVLink monitor tool

mavlink_monitor.py

#!/usr/bin/env python3
# -*- coding: utf-8 -*-

"""MAVLink Monitor
Monitor MAVLink packages from a serial port, UDP, or TCP link.
Usage:
  mavlink_monitor.py [--dialect=<dialect>] [-b] <url>
  mavlink_monitor.py (-h | --help)
Options:
  --dialect=<dialect>  MAVLink dialect [default: common]
  -b                   Send HEARTBEAT
  <url>                Connection link URL in Pymavlink format
  -h --help            Show this screen
Examples:
  ./mavlink_monitor.py -b /dev/ttyACM0
  ./mavlink_monitor.py udpin:localhost:14540
"""


from docopt import docopt

arguments = docopt(__doc__)

from pymavlink import mavutil
mavutil.set_dialect(arguments['--dialect'])
fd = mavutil.mavlink_connection(arguments['<url>'], source_system=255, source_component=0)

if arguments['-b']:
    fd.mav.heartbeat_send(mavutil.mavlink.MAV_TYPE_GCS, mavutil.mavlink.MAV_AUTOPILOT_INVALID, 0, 0, 0)

try:
    while True:
        msg = fd.recv_match(blocking=True)
        if not msg:
            continue

        print(msg)
except KeyboardInterrupt:
    pass