1 files changed, 69 insertions, 0 deletions
diff --git a/mavlink/share/pyshared/pymavlink/examples/wptogpx.py b/mavlink/share/pyshared/pymavlink/examples/wptogpx.py
new file mode 100644
index 000000000..306f20af2
--- /dev/null
+++ b/mavlink/share/pyshared/pymavlink/examples/wptogpx.py
@@ -0,0 +1,69 @@
+#!/usr/bin/env python
+
+'''
+example program to extract GPS data from a waypoint file, 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("wptogpx.py [options]")
+(opts, args) = parser.parse_args()
+
+import mavutil, mavwp
+
+if len(args) < 1:
+    print("Usage: wptogpx.py <WPFILE>")
+    sys.exit(1)
+
+def wp_to_gpx(infilename, outfilename):
+    '''convert a wp file to a GPX file'''
+
+    wp = mavwp.MAVWPLoader()
+    wp.load(infilename)
+    outf = open(outfilename, mode='w')
+
+    def process_wp(w, i):
+        t = time.localtime(i)
+        outf.write('''<wpt lat="%s" lon="%s">
+  <ele>%s</ele>
+  <cmt>WP %u</cmt>
+</wpt>
+''' % (w.x, w.y, w.z, i))
+
+    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">
+''')
+
+    def add_footer():
+        outf.write('''
+</gpx>
+''')
+
+    add_header()       
+
+    count = 0
+    for i in range(wp.count()):
+        w = wp.wp(i)
+        if w.frame == 3:
+            w.z += wp.wp(0).z
+        if w.command == 16:
+            process_wp(w, i)
+        count += 1
+    add_footer()
+    print("Created %s with %u points" % (outfilename, count))
+    
+
+for infilename in args:
+    outfilename = infilename + '.gpx'
+    wp_to_gpx(infilename, outfilename)