forked from Archive/PX4-Autopilot
53 lines
1.4 KiB
Python
53 lines
1.4 KiB
Python
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#!/usr/bin/env python
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'''
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show changes in flight modes
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'''
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import sys, time, os
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# allow import from the parent directory, where mavlink.py is
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sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
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from optparse import OptionParser
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parser = OptionParser("flightmodes.py [options]")
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parser.add_option("--mav10", action='store_true', default=False, help="Use MAVLink protocol 1.0")
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(opts, args) = parser.parse_args()
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if opts.mav10:
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os.environ['MAVLINK10'] = '1'
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import mavutil
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if len(args) < 1:
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print("Usage: flightmodes.py [options] <LOGFILE...>")
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sys.exit(1)
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def flight_modes(logfile):
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'''show flight modes for a log file'''
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print("Processing log %s" % filename)
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mlog = mavutil.mavlink_connection(filename)
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mode = -1
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nav_mode = -1
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filesize = os.path.getsize(filename)
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while True:
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m = mlog.recv_match(type='SYS_STATUS',
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condition='SYS_STATUS.mode != %u or SYS_STATUS.nav_mode != %u' % (mode, nav_mode))
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if m is None:
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return
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mode = m.mode
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nav_mode = m.nav_mode
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pct = (100.0 * mlog.f.tell()) / filesize
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print('%s MAV.flightmode=%-12s mode=%u nav_mode=%u (MAV.timestamp=%u %u%%)' % (
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time.asctime(time.localtime(m._timestamp)),
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mlog.flightmode,
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mode, nav_mode, m._timestamp, pct))
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for filename in args:
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flight_modes(filename)
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