1 files changed, 83 insertions, 0 deletions
diff --git a/mavlink/share/pyshared/pymavlink/examples/mavtogpx.py b/mavlink/share/pyshared/pymavlink/examples/mavtogpx.py
new file mode 100644
index 000000000..92d3cb51c
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/examples/mavtogpx.py
@@ -0,0 +1,83 @@
+#!/usr/bin/env python
+
+'''
+example program to extract GPS data from a mavlink log, and create a GPX
+file, for loading into google earth
+'''
+
+import sys, struct, 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("mavtogpx.py [options]")
+parser.add_option("--condition",dest="condition", default=None, help="select packets by a condition")
+parser.add_option("--nofixcheck", default=False, action='store_true', help="don't check for GPS fix")
+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: mavtogpx.py <LOGFILE>")
+    sys.exit(1)
+
+def mav_to_gpx(infilename, outfilename):
+    '''convert a mavlink log file to a GPX file'''
+
+    mlog = mavutil.mavlink_connection(infilename)
+    outf = open(outfilename, mode='w')
+
+    def process_packet(m):
+        t = time.localtime(m._timestamp)
+        outf.write('''<trkpt lat="%s" lon="%s">
+  <ele>%s</ele>
+  <time>%s</time>
+  <course>%s</course>
+  <speed>%s</speed>
+  <fix>3d</fix>
+</trkpt>
+''' % (m.lat, m.lon, m.alt,
+       time.strftime("%Y-%m-%dT%H:%M:%SZ", t),
+       m.hdg, m.v))
+
+    def add_header():
+        outf.write('''<?xml version="1.0" encoding="UTF-8"?>
+<gpx
+  version="1.0"
+  creator="pymavlink"
+  xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+  xmlns="http://www.topografix.com/GPX/1/0"
+  xsi:schemaLocation="http://www.topografix.com/GPX/1/0 http://www.topografix.com/GPX/1/0/gpx.xsd">
+<trk>
+<trkseg>
+''')
+
+    def add_footer():
+        outf.write('''</trkseg>
+</trk>
+</gpx>
+''')
+
+    add_header()       
+
+    count=0
+    while True:
+        m = mlog.recv_match(type='GPS_RAW', condition=opts.condition)
+        if m is None: break
+        if m.fix_type != 2 and not opts.nofixcheck:
+            continue
+        if m.lat == 0.0 or m.lon == 0.0:
+            continue
+        process_packet(m)
+        count += 1
+    add_footer()
+    print("Created %s with %u points" % (outfilename, count))
+    
+
+for infilename in args:
+    outfilename = infilename + '.gpx'
+    mav_to_gpx(infilename, outfilename)