testWriteScript.py

# Import mavutil
from pymavlink import mavutil
import time

# Create the connection
master = mavutil.mavlink_connection('udpin:0.0.0.0:15000')
# Wait a heartbeat before sending commands
master.wait_heartbeat()

# Create a function to send RC values
# More information about Joystick channels
# here: https://www.ardusub.com/operators-manual/rc-input-and-output.html#rc-inputs
def set_rc_channel_pwm(id, pwm=1500):
    """ Set RC channel pwm value
    Args:
        id (TYPE): Channel ID
        pwm (int, optional): Channel pwm value 1100-1900
    """
    if id < 1:
        print("Channel does not exist.")
        return

    # We only have 8 channels
    # https://mavlink.io/en/messages/common.html#RC_CHANNELS_OVERRIDE
    if id < 9:

        # Arm
        # master.arducopter_arm() or:
        master.mav.command_long_send(
            master.target_system,
            master.target_component,
            mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM,
            0,
            1, 0, 0, 0, 0, 0, 0)

        rc_channel_values = [65535 for _ in range(8)]
        rc_channel_values[id - 1] = pwm
        master.mav.rc_channels_override_send(
            master.target_system,                # target_system
            master.target_component,             # target_component
            *rc_channel_values)                  # RC channel list, in microseconds.

# Set some roll
set_rc_channel_pwm(2, 1600)

i = 0
while i < 20:
    set_rc_channel_pwm(2, 1600)
    # master.mav.heartbeat_send(mavutil.mavlink.MAV_TYPE_GCS, mavutil.mavlink.MAV_AUTOPILOT_INVALID, 192, 0, 4)
    time.sleep(0.5)