util.py 文件源码

def start_MAVProxy_SITL(atype, aircraft=None, setup=False, master='tcp:127.0.0.1:5760',
                        options=None, logfile=sys.stdout):
    """Launch mavproxy connected to a SITL instance."""
    import pexpect
    global close_list
    MAVPROXY = os.getenv('MAVPROXY_CMD', 'mavproxy.py')
    cmd = MAVPROXY + ' --master=%s --out=127.0.0.1:14550' % master
    if setup:
        cmd += ' --setup'
    if aircraft is None:
        aircraft = 'test.%s' % atype
    cmd += ' --aircraft=%s' % aircraft
    if options is not None:
        cmd += ' ' + options
    ret = pexpect.spawn(cmd, logfile=logfile, encoding=ENCODING, timeout=60)
    ret.delaybeforesend = 0
    pexpect_autoclose(ret)
    return ret