Pymavlink Ardupilot SITL

• ardupilot SITL

• pamavlink

• Terminal 1

sim_vehicle.py --console

• Terminal 2 (python code)

from pymavlink import mavutil

master = mavutil.mavlink_connection('tcp:127.0.0.1:5762')

# Get some information !
while True:
    try:
        print(master.recv_match().to_dict())
    except:
        pass

• Terminal 3 (netstat -natp)

Proto Recv-Q Send-Q Local Address           Foreign Address         State       PID/Program name
tcp        0      0 0.0.0.0:5760            0.0.0.0:*               LISTEN      5976/arducopter 
tcp        0      0 0.0.0.0:5762            0.0.0.0:*               LISTEN      5976/arducopter 
tcp        0      0 0.0.0.0:5763            0.0.0.0:*               LISTEN      5976/arducopter 

python output

{'mavpackettype': 'TIMESYNC', 'ts1': 1854891080001, 'tc1': 0}
{'custom_mode': 0, 'system_status': 3, 'base_mode': 81, 'autopilot': 3, 'mavpackettype': 'HEARTBEAT', 'type': 2, 'mavlink_version': 3}
{'custom_mode': 0, 'system_status': 3, 'base_mode': 81, 'autopilot': 3, 'mavpackettype': 'HEARTBEAT', 'type': 2, 'mavlink_version': 3}
{'custom_mode': 0, 'system_status': 3, 'base_mode': 81, 'autopilot': 3, 'mavpackettype': 'HEARTBEAT', 'type': 2, 'mavlink_version': 3}