I have been doing some work with the APM, and am trying to create a simple traffic proxy so that I can send messages to the copter from APM and from another python program. I am using pymavlink to attempt to do the forwarding, but I am running into some roadblocks.
It looks like the Mission Planner does some non-mavlink stuff to request parameters before it connects. I currently have my code setup to forward any traffic it receives, mavlink or not, between the ground station and the APM serial. I am using a TCP socket to connect to the ground station. I can see the traffic coming from the ground station, and it seems to be receiving heartbeats from APM, but the ground station hangs and times out trying to receive parameters from APM. I am able to connect between APM and the ground station fine using the serial directly in the Ground station.
Is there something different about the way the ground station handles TCP messages? Is there already a program out there to do this on windows?
Thanks for the help!