Example of using asyncio to run multiple mavlink components

multiple-components.py

import asyncio
from pymavlink import mavutil

PORT = 6666
CONNECTION_STRING = f'udpout:127.0.0.1:{PORT}'
CONNECTIONS = {}

def get_mavlink_connection(system_id: int, component_id: int):
    def create(system_id: int, component_id: int):
        return mavutil.mavlink_connection(
            CONNECTION_STRING,
            source_system=system_id,
            source_component=component_id,
            autoreconnect=True,
        )

    if system_id not in CONNECTIONS or component_id not in CONNECTIONS[system_id]:
        CONNECTIONS.update({system_id: {component_id: create(system_id, component_id)}})

    return CONNECTIONS[system_id][component_id]

async def heartbeat_loop(system_id: int, component_id: int):
    mavlink_connection = get_mavlink_connection(system_id, component_id)
    while True:
        await asyncio.sleep(1)
        print(f"{system_id}/{component_id}: sending heartbeat")
        mavlink_connection.mav.heartbeat_send(
            0,
            mavutil.mavlink.MAV_TYPE_CAMERA,
            mavutil.mavlink.MAV_AUTOPILOT_GENERIC,
            0,
            mavutil.mavlink.MAV_STATE_STANDBY,
            3
        )

async def receive_loop(system_id: int, component_id: int):
    mavlink_connection = get_mavlink_connection(system_id, component_id)
    while True:
        await asyncio.sleep(0.01)
        if incoming := mavlink_connection.recv_match():
            message = incoming.to_dict()
            print(f"{system_id}/{component_id}: got message: {message['mavpackettype']}")

def create_component_tasks(loop: asyncio.AbstractEventLoop, system_id: int, component_id: int) -> [asyncio.Task]:
    return [
        loop.create_task(heartbeat_loop(system_id, component_id)),
        loop.create_task(receive_loop(system_id, component_id)),
    ]

if __name__ == '__main__':
    loop = asyncio.new_event_loop()

    loop.run_until_complete(asyncio.wait(
        create_component_tasks(loop, mavutil.mavlink.MAV_COMP_ID_AUTOPILOT1, mavutil.mavlink.MAV_COMP_ID_CAMERA) +
        create_component_tasks(loop, mavutil.mavlink.MAV_COMP_ID_AUTOPILOT1, mavutil.mavlink.MAV_COMP_ID_CAMERA2)
    ))
    loop.close()