Verify Pixhawk SD card

gistfile1.txt

#!/usr/bin/python

# - verify that logging to sd card is working OK

import os
import time
from pymavlink import mavutil
from argparse import ArgumentParser

parser = ArgumentParser(description=__doc__)
parser.add_argument("--port", dest="port", required=True, help="Serial port of the device to erase")
parser.add_argument("--baudrate", dest="baudrate", type=int, default=115200, help="Baudrate to use for device communications")
args = parser.parse_args()

def wait_msg(msg_type, timeout):
    start = time.time()
    print(start)
    while time.time() < start + timeout:
        msg = master.recv_match()
        while msg is not None:
            print(msg)
            if msg.get_type() == msg_type:
                return msg
            msg = master.recv_match()
        time.sleep(0.001)
    return None

while not os.path.exists(args.port):
    print("waiting for connection to %s" % args.port)
    time.sleep(0.5)

master = mavutil.mavlink_connection(args.port, args.baudrate)
master.target_system = 1
master.target_component = 1

print("waiting for autopilot heartbeat...")
master.wait_heartbeat()

print("waiting for SYS_STATUS...")
master.param_set_send("SR0_EXT_STAT",10)
msg = wait_msg("SYS_STATUS", 0.1)
while msg is None:
    master.mav.heartbeat_send(6,8,0,0,0)
    master.param_set_send("SR0_EXT_STAT",10)
    msg = wait_msg("SYS_STATUS", 0.1)

print("arming...")
master.mav.heartbeat_send(0,0,0,0,0)
master.mav.command_long_send(
    1,  # target_system
    1,
    400, # MAV_CMD_COMPONENT_ARM_DISARM - arm
    0, # confirmation
    1, # param1 (1 to indicate arm)
    0, # param2 (all other params meaningless)
    0, # param3
    0, # param4
    0, # param5
    0, # param6
    0) # param7

print("checking that logging to sd card is ok...")
# drain the autopilot output, otherwise the next step may not actually wait 2 seconds
while wait_msg("SYS_STATUS", 0.01) is not None:
    continue

# check SYS_STATUS for 2 seconds (20 * 10Hz)
for x in range(20):
    msg = None
    while msg is None:
        msg = wait_msg("SYS_STATUS", 0.1)
    if not (msg.onboard_control_sensors_health & 0x1000000):
        print("logging is NOT ok!!!!")
        print("check the SD card")
        master.close()
        exit(1)

print("logging is ok")
master.close()