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AP_Scripting: added width and reduce options to 3D aerobatic viewer

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This commit is contained in:
Andrew Tridgell 2023-06-01 16:04:35 +10:00
parent 51c4c047d6
commit 6dd78005d6
1 changed files with 59 additions and 12 deletions
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71
libraries/AP_Scripting/applets/Aerobatics/FixedWing/view_paths.py
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@ -7,6 +7,8 @@ from panda3d_viewer import Viewer, ViewerConfig
from pymavlink.quaternion import QuaternionBase, Quaternion
from pymavlink.rotmat import Vector3, Matrix3
from pymavlink import mavutil
from MAVProxy.modules.lib import mp_util
import math, sys
# quaternion to rotate to fix NED to ENU conversion
@ -45,7 +47,7 @@ def view_path(viewer, path, color):
if math.isnan(p1.q[0]) or math.isnan(p1.q[1]) or math.isnan(p1.q[2]) or math.isnan(p1.q[3]):
continue
pname = 'p%u' % i
viewer.append_box('root', pname, (dist, 0.1, 0.002), frame=(p1.pos,qtuple(p1.q)))
viewer.append_box('root', pname, (dist, args.width, 0.002), frame=(p1.pos,qtuple(p1.q)))
viewer.set_material('root', pname, color_rgba=color)
class LogPoint(object):
@ -56,7 +58,15 @@ class LogPoint(object):
self.q = q_NED_ENU * q
self.t = t
def show_log(viewer,filename):
def offset_between(ORGN1, ORGN2):
'''return x,y offset in meters between ORGN1 and ORGN2'''
dist = mp_util.gps_distance(ORGN1.Lat, ORGN1.Lng, ORGN2.Lat, ORGN2.Lng)
bearing = mp_util.gps_bearing(ORGN1.Lat, ORGN1.Lng, ORGN2.Lat, ORGN2.Lng)
ofs_x = dist * math.cos(math.radians(bearing))
ofs_y = dist * math.sin(math.radians(bearing))
return ofs_x, ofs_y
def show_log(viewer,filename,reduction):
print("Viewing %s" % filename)
mlog = mavutil.mavlink_connection(filename)
@ -66,26 +76,63 @@ def show_log(viewer,filename):
ATT = None
scale = 0.01
counts = {}
ORGN = None
ofs_x = 0
ofs_y = 0
while True:
m = mlog.recv_match(type=['POST', 'POSB', 'POSM', 'ATT'])
m = mlog.recv_match(type=['POST', 'POSB', 'POSM', 'ATT', 'ORGN'])
if m is None:
break
if m.get_type() == 'POST' and ATT is not None:
path_POST.append(LogPoint(m.px*scale, m.py*scale, m.pz*scale, Quaternion([m.q1, m.q2, m.q3, m.q4]), m.TimeUS*1.0e-6))
if m.get_type() == 'POSB' and ATT is not None:
path_POSB.append(LogPoint(m.px*scale, m.py*scale, m.pz*scale, Quaternion([m.q1, m.q2, m.q3, m.q4]), m.TimeUS*1.0e-6))
if m.get_type() == 'POSM' and ATT is not None:
path_POSM.append(LogPoint(m.px*scale, m.py*scale, m.pz*scale, Quaternion([m.q1, m.q2, m.q3, m.q4]), m.TimeUS*1.0e-6))
if m.get_type() == 'ATT':
mtype = m.get_type()
if mtype == 'ORGN':
if m.Type == 0:
if ORGN is None:
ORGN = m
else:
ofs_x, ofs_y = offset_between(m, ORGN)
ORGN = m
continue
if not mtype in counts:
counts[mtype] = 0
counts[mtype] += 1
if counts[mtype] % int(reduction) != 0:
continue
if mtype != 'ATT':
px = m.px + ofs_x
py = m.py + ofs_y
if mtype == 'POST' and ATT is not None:
path_POST.append(LogPoint(px*scale, py*scale, m.pz*scale, Quaternion([m.q1, m.q2, m.q3, m.q4]), m.TimeUS*1.0e-6))
if mtype == 'POSB' and ATT is not None:
path_POSB.append(LogPoint(px*scale, py*scale, m.pz*scale, Quaternion([m.q1, m.q2, m.q3, m.q4]), m.TimeUS*1.0e-6))
if mtype == 'POSM' and ATT is not None:
path_POSM.append(LogPoint(px*scale, py*scale, m.pz*scale, Quaternion([m.q1, m.q2, m.q3, m.q4]), m.TimeUS*1.0e-6))
if mtype == 'ATT':
ATT = m
view_path(viewer, path_POST, (0.7,0.1,0.1,1))
view_path(viewer, path_POSM, (0.1,0.7,0.1,1))
view_path(viewer, path_POSB, (0.1,0.1,0.7,1))
filename = sys.argv[1]
import argparse
parser = argparse.ArgumentParser(description='Aerobatic log viewer')
parser.add_argument('file', nargs='?', default=None, help='bin log file')
parser.add_argument('--reduce', type=int, default=1, help='reduction ratio for messages')
parser.add_argument('--width', type=float, default=0.1, help='line width')
args = parser.parse_args()
filename = args.file
viewer = Viewer(window_type='onscreen', window_title=filename, config=config)
viewer.append_group('root')
show_log(viewer, sys.argv[1])
show_log(viewer, filename, args.reduce)
viewer.reset_camera(pos=(0, -6, 1), look_at=(0, 0, 1))
viewer.join()