1 files changed, 67 insertions, 0 deletions
diff --git a/mavlink/share/pyshared/pymavlink/examples/mavlogdump.py b/mavlink/share/pyshared/pymavlink/examples/mavlogdump.py
new file mode 100644
index 000000000..f4cdc56bf
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/examples/mavlogdump.py
@@ -0,0 +1,67 @@
+#!/usr/bin/env python
+
+'''
+example program that dumps a Mavlink log file. The log file is
+assumed to be in the format that qgroundcontrol uses, which consists
+of a series of MAVLink packets, each with a 64 bit timestamp
+header. The timestamp is in microseconds since 1970 (unix epoch)
+'''
+
+import sys, time, os, struct
+
+# 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("mavlogdump.py [options]")
+
+parser.add_option("--no-timestamps",dest="notimestamps", action='store_true', help="Log doesn't have timestamps")
+parser.add_option("--planner",dest="planner", action='store_true', help="use planner file format")
+parser.add_option("--robust",dest="robust", action='store_true', help="Enable robust parsing (skip over bad data)")
+parser.add_option("-f", "--follow",dest="follow", action='store_true', help="keep waiting for more data at end of file")
+parser.add_option("--condition",dest="condition", default=None, help="select packets by condition")
+parser.add_option("-q", "--quiet", dest="quiet", action='store_true', help="don't display packets")
+parser.add_option("-o", "--output", default=None, help="output matching packets to give file")
+parser.add_option("--mav10", action='store_true', default=False, help="Use MAVLink protocol 1.0")
+parser.add_option("--types",  default=None, help="types of messages (comma separated)")
+(opts, args) = parser.parse_args()
+
+if opts.mav10:
+    os.environ['MAVLINK10'] = '1'
+import mavutil
+
+if len(args) < 1:
+    print("Usage: mavlogdump.py [options] <LOGFILE>")
+    sys.exit(1)
+
+filename = args[0]
+mlog = mavutil.mavlink_connection(filename, planner_format=opts.planner,
+                                  notimestamps=opts.notimestamps,
+                                  robust_parsing=opts.robust)
+
+output = None
+if opts.output:
+    output = mavutil.mavlogfile(opts.output, write=True)
+
+types = opts.types
+if types is not None:
+    types = types.split(',')
+    
+while True:
+    m = mlog.recv_match(condition=opts.condition, blocking=opts.follow)
+    if m is None:
+        break
+    if types is not None and m.get_type() not in types:
+        continue
+    if output:
+        timestamp = getattr(m, '_timestamp', None)
+        if timestamp:
+            output.write(struct.pack('>Q', timestamp*1.0e6))
+        output.write(m.get_msgbuf().tostring())
+    if opts.quiet:
+        continue
+    print("%s.%02u: %s" % (
+        time.strftime("%Y-%m-%d %H:%M:%S",
+                      time.localtime(m._timestamp)),
+        int(m._timestamp*100.0)%100, m))
+