mav-sender.py

from __future__ import print_function

import pymavlink.mavutil as mavutil
import sys
import time

#if len(sys.argv) != 3:
#    print("Usage: %s <ip:udp_port> <system-id>" % (sys.argv[0]))
#    print("Receive mavlink heartbeats on specified interface. "
#          "Respond with a ping message")
#    quit()

srcSystem = 1 #int(sys.argv[2])
mav_get = mavutil.mavlink_connection(
    'udpin:0.0.0.0:14550', source_system=srcSystem)
mav_send = mavutil.mavlink_connection(
    'tcp:127.0.0.1:5773', source_system=1)

while (True):
    msg = mav_get.recv_match(type='GLOBAL_POSITION_INT', blocking=True)
    if msg.get_srcSystem() == srcSystem:
        print("Message from %d: %s" % (msg.get_srcSystem(), msg))
	mav_send.mav.global_position_int_send(msg.time_boot_ms, msg.lat, msg.lon, msg.alt, msg.relative_alt, msg.vx, msg.vy, msg.vz, msg.hdg)