tridge/mavlink — pull request #3 by pchickey (2012-10-10 05:25:57+00:00)
Title: ArduCopter arm/disarm support in mavutil

The ArduCopter trunk now supports arming and disarming motors via MAVLink message. These changes to add the methods `arducopter_arm(self)` and `arducopter_disarm(self)` to the `mavfile` class in mavutil.py, which sends an appropriate `COMMAND_LONG` message.

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For reference, commit message to the ardupilot-mega repository for implementing the arm and disarm commands in ArduCopter/GCS_Mavlink.pde:

commit 83c7f035b551a351760ff26dbd5a0ec4fc92a424
Author: Pat Hickey
Date: Tue Oct 9 18:48:05 2012 -0700

ArduCopter GCS_MAVLink: COMMAND_LONG for arm/disarm motors

Date: Wed, 26 Sep 2012 15:56:43 -0700
Subject: ArduCopter arm/disarm command consensus
From: Pat Hickey
To: Michael Oborne
Cc: "Craig J. Elder" , arducopter
,
mavelous

Michael,

Per our discussion today,

In a MAVLINK_MSG_ID_COMMAND_LONG
A MAV_CMD of type MAV_CMD_COMPONENT_ARM_DISARM
with component id MAV_COMP_ID_SYSTEM_CONTROL = 250,
uses param index 1 to specify an arm/disarm motors event: 1 to arm,
0 to disarm

Thanks for working this out with me. Sorry to get it so completely
wrong the first time around!

Best
Pat