From bdc615e4cc6b2b80d32f92a570af223738494769 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 21 Mar 2020 09:38:10 +1100
Subject: [PATCH] Tools: added rcda_decode script

---
 Tools/scripts/rcda_decode.py | 51 ++++++++++++++++++++++++++++++++++++
 1 file changed, 51 insertions(+)
 create mode 100755 Tools/scripts/rcda_decode.py

diff --git a/Tools/scripts/rcda_decode.py b/Tools/scripts/rcda_decode.py
new file mode 100755
index 0000000000..bd2910cd4d
--- /dev/null
+++ b/Tools/scripts/rcda_decode.py
@@ -0,0 +1,51 @@
+#!/usr/bin/env python
+
+'''
+decode RCDA messages from a log and optionally play back to a serial port. The RCDA message is
+captures RC input bytes when RC_OPTIONS=16 is set
+'''
+
+import struct
+
+from argparse import ArgumentParser
+parser = ArgumentParser(description=__doc__)
+parser.add_argument("--condition", default=None, help="select packets by condition")
+parser.add_argument("--baudrate", type=int, default=115200, help="baudrate")
+parser.add_argument("--port", type=str, default=None, help="port")
+parser.add_argument("--delay-mul", type=float, default=1.0, help="delay multiplier")
+parser.add_argument("log", metavar="LOG")
+import time
+import serial
+
+args = parser.parse_args()
+
+from pymavlink import mavutil
+
+print("Processing log %s" % args.log)
+mlog = mavutil.mavlink_connection(args.log)
+
+if args.port:
+    port = serial.Serial(args.port, args.baudrate, timeout=1.0)
+
+tlast = -1
+counter = 0
+
+while True:
+    msg = mlog.recv_match(type=['RCDA'], condition=args.condition)
+    if msg is None:
+        mlog.rewind()
+        tlast = -1
+        continue
+    tnow = msg.TimeUS
+    if tlast == -1:
+        tlast = tnow
+    buf = struct.pack("<IIIIIIIIII",
+                      msg.U0, msg.U1, msg.U2, msg.U3, msg.U4,
+                        msg.U5, msg.U6, msg.U7, msg.U8, msg.U9)[0:msg.Len]
+    ibuf = [ ord(b) for b in buf ]
+    dt = tnow - tlast
+    tlast = tnow
+    print(len(ibuf), ibuf, dt)
+    if args.port:
+        time.sleep(dt*1.0e-6*args.delay_mul)
+        port.write(buf)