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Send heartbeat to start MAVLink #1057

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010bb62
Send heartbeat to start MAVLink
Acumane Jun 6, 2025
c485e92
print ListDirectory
Acumane Jun 10, 2025
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38 changes: 35 additions & 3 deletions mavftp.py
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Original file line number Diff line number Diff line change
Expand Up @@ -403,6 +403,8 @@ def __handle_list_reply(self, op, _m) -> MAVFTPReturn:
'''handle OP_ListDirectory reply'''
output: List[DirectoryEntry] = []
if op.opcode == OP_Ack and op.payload is not None:
if self.ftp_settings.debug > 0:
logging.info("FTP: Processing ListDirectory with %uB payload", len(op.payload))
dentries = sorted(op.payload.split(b"\x00"))
for d in dentries:
if len(d) == 0:
Expand All @@ -411,7 +413,7 @@ def __handle_list_reply(self, op, _m) -> MAVFTPReturn:
try:
dir_entry = str(d, "ascii")
except Exception as error: # pylint: disable=broad-exception-caught
logging.debug(error)
logging.debug("FTP: Failed to decode entry: %s", error)
continue
if dir_entry[0] == "D":
output.append(DirectoryEntry(name=dir_entry[1:], is_dir=True, size_b=0))
Expand Down Expand Up @@ -1414,6 +1416,8 @@ 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 +1611,25 @@ 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 +1640,9 @@ 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 Expand Up @@ -1655,6 +1676,17 @@ def main():
if args.command in ['get', 'put', 'getparams']:
ret = mav_ftp.process_ftp_reply(args.command, timeout=500)

if args.command == 'list':
if ret.error_code in [FtpError.Success, FtpError.EndOfFile]:
if mav_ftp.list_result:
for entry in mav_ftp.list_result:
if entry.is_dir:
print(f"{entry.name}/")
else:
print(f"{entry.name:<30} {entry.size_b:>10} bytes")
else:
print("Directory is empty")

if isinstance(ret, str):
logging.error("Command returned: %s, but it should return a MAVFTPReturn instead", ret)
elif isinstance(ret, MAVFTPReturn):
Expand Down