boards/kakute-f7-mini-v3: add selectable motor outputs

Signed-off-by: Onur Özkan <work@onurozkan.dev>

scripts/mavlink-debug.py

@@ -0,0 +1,84 @@
+#!/usr/bin/env python3
+"""Small MAVLink command-line debugger for a Kaptan flight controller."""
+
+import argparse
+import os
+import sys
+import time
+
+
+def parse_arguments():
+    parser = argparse.ArgumentParser(description=__doc__)
+    parser.add_argument("serial_device", help="serial device connected to the flight controller")
+    parser.add_argument("command", choices=("arm", "disarm", "read"))
+    parser.add_argument("--baud", type=int, default=115200, help="serial baud rate (default: 115200)")
+    parser.add_argument("--system-id", type=int, default=1, help="target MAVLink system ID (default: 1)")
+    parser.add_argument(
+        "--component-id", type=int, default=1, help="target MAVLink component ID (default: 1)"
+    )
+    return parser.parse_args()
+
+
+def print_messages(connection, timeout):
+    deadline = time.monotonic() + timeout
+    while time.monotonic() < deadline:
+        message = connection.recv_match(blocking=True, timeout=deadline - time.monotonic())
+        if message is None:
+            return None
+        print(message)
+        yield message
+
+
+def send_arm_command(connection, mavutil, arguments, armed):
+    for _ in range(3):
+        connection.mav.command_long_send(
+            arguments.system_id,
+            arguments.component_id,
+            mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
+            0,
+            1.0 if armed else 0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+        )
+        for message in print_messages(connection, timeout=1.0):
+            if (
+                message.get_type() == "COMMAND_ACK"
+                and message.command == mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM
+            ):
+                return
+    action = "arm" if armed else "disarm"
+    raise SystemExit(f"timed out waiting for {action} acknowledgement")
+
+
+def read_messages(connection):
+    try:
+        while True:
+            message = connection.recv_match(blocking=True, timeout=1.0)
+            if message is not None:
+                print(message)
+    except KeyboardInterrupt:
+        pass
+
+
+def main():
+    arguments = parse_arguments()
+    # Kaptan currently accepts MAVLink 2 frames only.
+    os.environ["MAVLINK20"] = "1"
+    from pymavlink import mavutil
+
+    connection = mavutil.mavlink_connection(arguments.serial_device, baud=arguments.baud)
+    if arguments.command == "read":
+        read_messages(connection)
+    else:
+        send_arm_command(connection, mavutil, arguments, armed=arguments.command == "arm")
+
+
+if __name__ == "__main__":
+    try:
+        main()
+    except KeyboardInterrupt:
+        sys.exit(130)

scripts/test-mavlink.py

@@ -1,35 +0,0 @@
-#!/usr/bin/env python3
-
-import sys
-import time
-
-from pymavlink import mavutil
-
-if len(sys.argv) != 2:
-    sys.exit(f"usage: {sys.argv[0]} <serial-device>")
-
-connection = mavutil.mavlink_connection(sys.argv[1], baud=115200)
-next_timesync = 0.0
-next_ping = 0.0
-ping_sequence = 0
-
-while True:
-    now = time.monotonic()
-    if now >= next_timesync:
-        connection.mav.timesync_send(0, time.monotonic_ns() // 1_000)
-        next_timesync = now + 0.2
-
-    if now >= next_ping:
-        connection.mav.ping_send(
-            int(time.time_ns() // 1_000),
-            ping_sequence,
-            0,
-            0,
-        )
-        ping_sequence = (ping_sequence + 1) & 0xFFFFFFFF
-        next_ping = now + 0.1
-
-    while message := connection.recv_match(blocking=False):
-        print(message)
-
-    time.sleep(0.01)