1 files changed, 52 insertions, 0 deletions
diff --git a/mavlink/share/pyshared/pymavlink/examples/flightmodes.py b/mavlink/share/pyshared/pymavlink/examples/flightmodes.py
new file mode 100644
index 000000000..03d7e2c47
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/examples/flightmodes.py
@@ -0,0 +1,52 @@
+#!/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)
+
+