Motor_test_ardupilot/main.py

#!/usr/bin/env python

import sys
from pymavlink import mavutil

def set_servo_pwm(servo_n, microseconds):
    """ Sets AUX 'servo_n' output PWM pulse-width.

    Uses https://mavlink.io/en/messages/common.html#MAV_CMD_DO_SET_SERVO

    'servo_n' is the AUX port to set (assumes port is configured as a servo).
        Valid values are 1-3 in a normal BlueROV2 setup, but can go up to 8
        depending on Pixhawk type and firmware.
    'microseconds' is the PWM pulse-width to set the output to. Commonly
        between 1100 and 1900 microseconds.

    """
    # master.set_servo(servo_n+8, microseconds) or:
    master.mav.command_long_send(
        master.target_system, master.target_component,
        mavutil.mavlink.MAV_CMD_DO_SET_SERVO,
        0,            # first transmission of this command
        servo_n + 8,  # servo instance, offset by 8 MAIN outputs
        microseconds, # PWM pulse-width
        0,0,0,0,0     # unused parameters
    )

master = mavutil.mavlink_connection('udpin:127.0.0.1:14550')
master.wait_heartbeat()
print("CONNECT SUCCESS")

count = 1
for i in range(1100, 1700, 100):
    print("NUM: ", count, " | PWM: ", i)
    set_servo_pwm(count, i)
    count += 1

print("SET SERVOS SUCCESS")