From 2d35d935b4588968e9e8434663fe56d751f7ab30 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Onur=20=C3=96zkan?= <work@onurozkan.dev>
Date: Tue, 21 Jul 2026 12:51:43 +0300
Subject: [PATCH] scripts: rename read-mavlink -> test-mavlink with writings
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Signed-off-by: Onur Özkan <work@onurozkan.dev>
---
 scripts/read-mavlink.py | 14 --------------
 scripts/test-mavlink.py | 35 +++++++++++++++++++++++++++++++++++
 2 files changed, 35 insertions(+), 14 deletions(-)
 delete mode 100755 scripts/read-mavlink.py
 create mode 100755 scripts/test-mavlink.py

diff --git a/scripts/read-mavlink.py b/scripts/read-mavlink.py
deleted file mode 100755
index 674d1d0..0000000
--- a/scripts/read-mavlink.py
+++ /dev/null
@@ -1,14 +0,0 @@
-#!/usr/bin/env python3
-
-# NixOS: nix-shell -p 'python313.withPackages (ps: [ ps.pymavlink ps.pyserial ])' --run './scripts/read-mavlink.py /dev/ttyUSB0'
-
-import sys
-
-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)
-while message := connection.recv_match(blocking=True):
-    print(message)
diff --git a/scripts/test-mavlink.py b/scripts/test-mavlink.py
new file mode 100755
index 0000000..92d2749
--- /dev/null
+++ b/scripts/test-mavlink.py
@@ -0,0 +1,35 @@
+#!/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)