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

libraries/AP_Scripting/applets/Aerobatics/FixedWing/view_paths.py

@@ -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))
+        mtype = m.get_type()
-        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 mtype == 'ORGN':
-        if m.get_type() == 'POSM' and ATT is not None:
+            if m.Type == 0:
-            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 ORGN is None:
-        if m.get_type() == 'ATT':
+                    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()