diff options
Diffstat (limited to 'mavlink/share/pyshared/pymavlink/examples/gpslock.py')
-rw-r--r-- | mavlink/share/pyshared/pymavlink/examples/gpslock.py | 68 |
1 files changed, 68 insertions, 0 deletions
diff --git a/mavlink/share/pyshared/pymavlink/examples/gpslock.py b/mavlink/share/pyshared/pymavlink/examples/gpslock.py new file mode 100644 index 000000000..f15b29072 --- /dev/null +++ b/mavlink/share/pyshared/pymavlink/examples/gpslock.py @@ -0,0 +1,68 @@ +#!/usr/bin/env python + +''' +show GPS lock events in a MAVLink log +''' + +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("gpslock.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: gpslock.py [options] <LOGFILE...>") + sys.exit(1) + +def lock_time(logfile): + '''work out gps lock times for a log file''' + print("Processing log %s" % filename) + mlog = mavutil.mavlink_connection(filename) + + locked = False + start_time = 0.0 + total_time = 0.0 + t = None + m = mlog.recv_match(type='GPS_RAW') + unlock_time = time.mktime(time.localtime(m._timestamp)) + + while True: + m = mlog.recv_match(type='GPS_RAW') + if m is None: + if locked: + total_time += time.mktime(t) - start_time + if total_time > 0: + print("Lock time : %u:%02u" % (int(total_time)/60, int(total_time)%60)) + return total_time + t = time.localtime(m._timestamp) + if m.fix_type == 2 and not locked: + print("Locked at %s after %u seconds" % (time.asctime(t), + time.mktime(t) - unlock_time)) + locked = True + start_time = time.mktime(t) + elif m.fix_type == 1 and locked: + print("Lost GPS lock at %s" % time.asctime(t)) + locked = False + total_time += time.mktime(t) - start_time + unlock_time = time.mktime(t) + elif m.fix_type == 0 and locked: + print("Lost protocol lock at %s" % time.asctime(t)) + locked = False + total_time += time.mktime(t) - start_time + unlock_time = time.mktime(t) + return total_time + +total = 0.0 +for filename in args: + total += lock_time(filename) + +print("Total time locked: %u:%02u" % (int(total)/60, int(total)%60)) |