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#!/usr/bin/env python
'''
show changes in flight modes
'''
import sys, time, os
# allow import from the parent directory, where mavlink.py is
sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
from optparse import OptionParser
parser = OptionParser("flightmodes.py [options]")
parser.add_option("--mav10", action='store_true', default=False, help="Use MAVLink protocol 1.0")
(opts, args) = parser.parse_args()
if opts.mav10:
os.environ['MAVLINK10'] = '1'
import mavutil
if len(args) < 1:
print("Usage: flightmodes.py [options] <LOGFILE...>")
sys.exit(1)
def flight_modes(logfile):
'''show flight modes for a log file'''
print("Processing log %s" % filename)
mlog = mavutil.mavlink_connection(filename)
mode = -1
nav_mode = -1
filesize = os.path.getsize(filename)
while True:
m = mlog.recv_match(type='SYS_STATUS',
condition='SYS_STATUS.mode != %u or SYS_STATUS.nav_mode != %u' % (mode, nav_mode))
if m is None:
return
mode = m.mode
nav_mode = m.nav_mode
pct = (100.0 * mlog.f.tell()) / filesize
print('%s MAV.flightmode=%-12s mode=%u nav_mode=%u (MAV.timestamp=%u %u%%)' % (
time.asctime(time.localtime(m._timestamp)),
mlog.flightmode,
mode, nav_mode, m._timestamp, pct))
for filename in args:
flight_modes(filename)
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