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Send heartbeat to start MAVLink #1057

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Send heartbeat to start MAVLink
Acumane Jun 6, 2025
c485e92
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Acumane Jun 10, 2025
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23 changes: 21 additions & 2 deletions mavftp.py
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Original file line number Diff line number Diff line change
Expand Up @@ -1414,6 +1414,8 @@ def argument_parser():
help="Read retry time. Defaults to %(default)s")
parser.add_argument("--retry_time", type=float, default=0.5,
help="Retry time. Defaults to %(default)s")
parser.add_argument("--poke", action="store_true",
help="Send heartbeat to start MAVLink")

subparsers = parser.add_subparsers(dest="command", required=True)

Expand Down Expand Up @@ -1607,11 +1609,25 @@ def auto_connect(device):
return comport


def poke(port, baudrate = 115200):
logging.info("Poking flight controller with heartbeat on %s @ %d...", port, baudrate)
p = mavutil.mavlink_connection(port, baud=baudrate)

p.mav.heartbeat_send(
mavutil.mavlink.MAV_TYPE_GENERIC,
mavutil.mavlink.MAV_AUTOPILOT_INVALID,
0, 0, 0
)

p.wait_heartbeat(timeout=5)
p.close()


def wait_heartbeat(m):
'''wait for a heartbeat so we know the target system IDs'''
logging.info("Waiting for flight controller heartbeat")
logging.info("Waiting for flight controller heartbeat...")
m.wait_heartbeat(timeout=5)
logging.info("Heartbeat from system %u, component %u", m.target_system, m.target_system)
logging.info("Heartbeat from system %u, component %u", m.target_system, m.target_component)


def main():
Expand All @@ -1622,6 +1638,9 @@ def main():

# create a mavlink serial instance
comport = auto_connect(args.device)
if args.poke:
poke(args.device or comport.device, args.baudrate)

master = mavutil.mavlink_connection(comport.device, baud=args.baudrate, source_system=args.source_system)

# wait for the heartbeat msg to find the system ID
Expand Down