mirror of https://github.com/ArduPilot/ardupilot
76 lines
1.7 KiB
Python
Executable File
76 lines
1.7 KiB
Python
Executable File
#!/usr/bin/env python3
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'''
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unpack a param.pck file from @PARAM/param.pck via mavlink FTP
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'''
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import struct, sys
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from argparse import ArgumentParser
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parser = ArgumentParser(description=__doc__)
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parser.add_argument("file", metavar="LOG")
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args = parser.parse_args()
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data = open(args.file,'rb').read()
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last_name = ""
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magic = 0x671b
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# header of 6 bytes
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magic2,num_params,total_params = struct.unpack("<HHH", data[0:6])
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if magic != magic2:
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print("Bad magic 0x%x expected 0x%x" % (magic2, magic))
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sys.exit(1)
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data = data[6:]
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# mapping of data type to type length and format
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data_types = {
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1: (1, 'b'),
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2: (2, 'h'),
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3: (4, 'i'),
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4: (4, 'f'),
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}
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# we discard leading pad bytes (zero) on all params
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# pad bytes are inserted to ensure that a value doesn't
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# cross a block boundary
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pad_byte = 0
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if sys.version_info.major < 3:
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pad_byte = chr(0)
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count = 0
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while True:
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# skip pad bytes
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while len(data) > 0 and data[0] == pad_byte:
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data = data[1:]
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if len(data) == 0:
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break
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ptype, plen = struct.unpack("<BB", data[0:2])
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flags = (ptype>>4) & 0x0F
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ptype &= 0x0F
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if ptype not in data_types:
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raise Exception("bad type 0x%x" % ptype)
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(type_len, type_format) = data_types[ptype]
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name_len = ((plen>>4) & 0x0F) + 1
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common_len = (plen & 0x0F)
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name = last_name[0:common_len] + data[2:2+name_len].decode('utf-8')
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vdata = data[2+name_len:2+name_len+type_len]
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last_name = name
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data = data[2+name_len+type_len:]
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v, = struct.unpack("<" + type_format, vdata)
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count += 1
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print("%-16s %f" % (name, float(v)))
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if count != num_params or count > total_params:
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print("Error: Got %u params expected %u/%u" % (count, num_params, total_params))
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sys.exit(1)
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sys.exit(0)
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