arm.py

import argparse
from pymavlink import mavutil

def arm(mav_connection, arm_command):
    # Wait for the first heartbeat
    # This sets the system and component ID of remote system for the link
    mav_connection.wait_heartbeat()
    print("Heartbeat from system (system %u component %u)" %
          (mav_connection.target_system, mav_connection.target_component))

    mav_connection.mav.command_long_send(mav_connection.target_system, mav_connection.target_component,
                                         mavutil.mavlink.MAV_CMD_COMPONENT_ARM_DISARM, 0, arm_command, 0, 0, 0, 0, 0, 0)

    msg = mav_connection.recv_match(type='COMMAND_ACK', blocking=True)
    print(msg)

    # return the result of the ACK message
    return msg.result

if __name__ == "__main__":
    parser = argparse.ArgumentParser(description='Send arm/disarm commands using MAVLink protocol.')
    parser.add_argument('-c', '--connect', help="Connection string", default='udpin:localhost:14551')
    parser.add_argument('-a', '--arm', type=int, choices=[0, 1], help="Arm/Disarm command", default=1)
    
    args = parser.parse_args()

    mav_connection = mavutil.mavlink_connection(args.connect)
    result = arm(mav_connection, args.arm)
    print(f'Result of arm/disarm command: {result}')