mavsys #293: add --wait option

mavlink · Jun 5, 2015 · b6927c3 · b6927c3
1 parent 4741031
commit b6927c3
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/mavros/scripts/mavsys b/mavros/scripts/mavsys
@@ -83,6 +83,7 @@ def main():
     parser = argparse.ArgumentParser(description="Chnage mode and rate on MAVLink device.")
     parser.add_argument('-n', '--mavros-ns', help="ROS node namespace", default="/mavros")
     parser.add_argument('-v', '--verbose', action='store_true', help="verbose output")
+    parser.add_argument('--wait', action='store_true', help="Wait for establishing FCU connection")
     subarg = parser.add_subparsers()
 
     mode_args = subarg.add_parser('mode', help="Set mode")
@@ -108,6 +109,10 @@ def main():
 
     rospy.init_node("mavsys", anonymous=True)
     mavros.set_namespace(args.mavros_ns)
+
+    if args.wait:
+        wait_fcu_connection()
+
     args.func(args)