diff options
Diffstat (limited to 'mavlink/share/pyshared/pymavlink/examples/mavtogpx.py')
-rw-r--r-- | mavlink/share/pyshared/pymavlink/examples/mavtogpx.py | 83 |
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) |