rc_override.py

from pymavlink import mavutil
import time

############################## WARNING ################################
# THIS WILL DISABLE ARDUSUB'S ABILITIES TO CONTROL THE ROV BY ITSELF.
# USE WITH CAUTION
# MOTORS WILL SPIN WHEN THIS RUNS EVEN IF DISARMED
#######################################################################

# This example allows direct control of the thrusters, bypassing the
# builtin ardusub controllers and allowing direct control of the thrusters

# You will need to manually create a new mavlink endpoint (http://192.168.2.2:2770/mavproxy)
# at port 14551 so it can be used alongside QGC

# You will also need to setup the SERVOx_FUNCTION parameters to the corresponing
# RCx_IN option (SERVO1_FUNCTION = RCIN1 and so on)

# connect to the mavlink endpoint
master = mavutil.mavlink_connection('udpin:0.0.0.0:14551')

# Wait a heartbeat before sending commands
master.wait_heartbeat()

def set_rc_channels_pwm(channels_list):
    """ Sets all RC channels PWM values
    Args:
        channels_list (List<int>): Channel pwm value 1100-1900
    """
    # https://mavlink.io/en/messages/common.html#RC_CHANNELS_OVERRIDE
    master.mav.rc_channels_override_send(
        master.target_system,                # target_system
        master.target_component,             # target_component
        *channels_list)                      # RC channel list, in microseconds.


# Cycle PWMs up and down slowly between 1300 and 1700
delta = 1
value = 1500
while True:
    value = value + delta
    if value > 1700:
        delta = -1
    elif value < 1300:
        delta = 1
    # Mavlink 2 supports up to 18 channels
    # sends a list with 18 times "value"
    values_list = [value for i in range(18)]
    set_rc_channels_pwm(values_list)
    time.sleep(0.1)
    print(value)