AP_Scripting: added utility scripts for synchronised aerobatics

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

@@ -0,0 +1,92 @@
+#!/usr/bin/env python
+
+'''
+combined two aerobatics logs to generate a new log for showing the combined
+path of more than one aircraft
+'''
+
+import os
+from argparse import ArgumentParser
+
+parser = ArgumentParser(description=__doc__)
+
+parser.add_argument("log1", metavar="LOG1")
+parser.add_argument("log2", metavar="LOG2")
+parser.add_argument("logout", metavar="LOGOUT")
+parser.add_argument("--decimate", type=int, default=1)
+
+args = parser.parse_args()
+
+os.environ['MAVLINK20'] = '1'
+
+from pymavlink import mavutil
+
+mlog1 = mavutil.mavlink_connection(args.log1)
+mlog2 = mavutil.mavlink_connection(args.log2)
+output = open(args.logout, mode='wb')
+
+types1 = ['ORGN','VEH','PARM','MSG','FMT','FMTU','MULT','MODE','EVT']
+types2 = ['VEH']
+
+m1 = None
+m2 = None
+
+veh_fmt = None
+
+def write_VEH(m, veh_fmt):
+    buf = bytearray(m.get_msgbuf())
+    if veh_fmt is None:
+        return
+    buf[2] = veh_fmt
+    output.write(buf)
+
+m1_count = 0
+m2_count = 0
+
+while True:
+    if m1 is None:
+        m1 = mlog1.recv_match(type=types1)
+    if m2 is None:
+        m2 = mlog2.recv_match(type=types2)
+
+    if m1 is not None and m1.get_type() != 'VEH':
+        output.write(m1.get_msgbuf())
+        m1 = None
+        continue
+
+    if m2 is not None and m2.get_type() != 'VEH':
+        continue
+    
+    if veh_fmt is None and m1 is not None:
+        veh_fmt = m1.get_msgbuf()[2]
+
+    if m1 is None and m2 is None:
+        break
+
+    if m1 is None:
+        write_VEH(m2, veh_fmt)
+        m2 = None
+        continue
+
+    if m2 is None:
+        write_VEH(m1, veh_fmt)
+        m1 = None
+        continue
+
+    if hasattr(m1,'TSec'):
+        # old format
+        t1 = m1.TSec + m1.TUSec*1.0e-6
+        t2 = m2.TSec + m2.TUSec*1.0e-6
+    else:
+        t1 = m1.GWk*7*24*60*60 + m1.GMS*0.001
+        t2 = m2.GWk*7*24*60*60 + m2.GMS*0.001
+    if t1 <= t2:
+        m1_count += 1
+        if m1_count % args.decimate == 0:
+            write_VEH(m1, veh_fmt)
+        m1 = None
+    else:
+        m2_count += 1
+        if m2_count % args.decimate == 0:
+            write_VEH(m2, veh_fmt)
+        m2 = None

libraries/AP_Scripting/applets/Aerobatics/FixedWing/dual_plane.sh

@@ -0,0 +1,26 @@
+#!/bin/bash
+
+# two planes flying together doing aerobatics
+
+# assume we start the script from the root directory
+ROOTDIR=$PWD
+PLANE=$ROOTDIR/build/sitl/bin/arduplane
+
+LOC1="-35.36274643,149.16513199,585,353.8"
+LOC2="-35.36274593,149.16516256,585,353.8"
+
+[ -x "$PLANE" ] || {
+    ./waf configure --board sitl --debug
+    ./waf plane
+}
+
+# setup multicast
+#UARTA="tcp:0"
+UARTA="mcast:"
+
+PLANE_DEFAULTS="$ROOTDIR/Tools/autotest/models/plane-3d.parm"
+
+(cd ArduPlane/AeroBatics1 && $PLANE --instance 1 --home $LOC1 --model plane-3d --uartA $UARTA --defaults $PLANE_DEFAULTS) &
+(cd ArduPlane/AeroBatics2 && $PLANE --instance 2 --home $LOC2 --model plane-3d --uartA $UARTA --defaults $PLANE_DEFAULTS) &
+
+wait