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