import time
from pymavlink import mavutil, mavwp
master = mavutil.mavlink_connection('127.0.0.1:14550',baud = 115200)

lat = (45.93036680, 45.93142227, 45.93233196)
lon = (-119.29152888, -119.29056006, -119.29314315)
alt = (0, 0, 0)
N = len(lat)

msg = None

#wait for autoplit connection
while msg is None:
	msg = master.recv_msg()
print msg

master.mav.heartbeat_send(
6,    #type
8,    #autopilot
192,  #base_mode
0,    #custom_mode
4,    #system_status 
3     #mavlink_version
)

master.wait_heartbeat() #DO NOT REMOVE

time.sleep(3)

#ARM
master.mav.command_long_send(
1,    #autopilot system ID
1,    #autopilot component ID
400,  #command ID, ARM/DISARM
0,    #confirmation
1,    #ARM
0,0,0,0,0,0  #unused parameters
)

#set mode
mavutil.mavfile.set_mode(master,
3,    #auto mode selected
0,0) 

wp = mavwp.MAVWPLoader()
seq = 1
frame = mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT
radius = 10

for i in range(N):
    wp.add(mavutil.mavlink.MAVLink_mission_item_message(master.target_system,
    master.target_component,
    seq,
    frame,
    mavutil.mavlink.MAV_CMD_NAV_WAYPOINT,
    0, 0, 0, radius, 0, 0,
    lat[i],lon[i],alt[i]))

    seq += 1

master.waypoint_clear_all_send()
master.waypoint_count_send(wp.count())

for i in range(wp.count()):
    msg = master.recv_match(type=['MISSION_REQUEST'],blocking=True)
    master.mav.send(wp.wp(msg.seq))
    print('Sending waypoint {0}'.format(msg.seq))

time.sleep(10)

#DISARM
master.mav.command_long_send(
1,    #autopilot system ID
1,    #autopilot component ID
400,  #command ID, ARM/DISARM
0,    #confirmation
1,    #ARM
0,0,0,0,0,0  #unused parameters
)