forked from Archive/PX4-Autopilot
84 lines
2.3 KiB
Python
84 lines
2.3 KiB
Python
#!/usr/bin/env python
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'''
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example program to extract GPS data from a mavlink log, and create a GPX
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file, for loading into google earth
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'''
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import sys, struct, 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("mavtogpx.py [options]")
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parser.add_option("--condition",dest="condition", default=None, help="select packets by a condition")
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parser.add_option("--nofixcheck", default=False, action='store_true', help="don't check for GPS fix")
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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: mavtogpx.py <LOGFILE>")
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sys.exit(1)
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def mav_to_gpx(infilename, outfilename):
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'''convert a mavlink log file to a GPX file'''
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mlog = mavutil.mavlink_connection(infilename)
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outf = open(outfilename, mode='w')
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def process_packet(m):
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t = time.localtime(m._timestamp)
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outf.write('''<trkpt lat="%s" lon="%s">
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<ele>%s</ele>
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<time>%s</time>
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<course>%s</course>
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<speed>%s</speed>
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<fix>3d</fix>
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</trkpt>
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''' % (m.lat, m.lon, m.alt,
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time.strftime("%Y-%m-%dT%H:%M:%SZ", t),
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m.hdg, m.v))
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def add_header():
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outf.write('''<?xml version="1.0" encoding="UTF-8"?>
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<gpx
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version="1.0"
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creator="pymavlink"
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xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
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xmlns="http://www.topografix.com/GPX/1/0"
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xsi:schemaLocation="http://www.topografix.com/GPX/1/0 http://www.topografix.com/GPX/1/0/gpx.xsd">
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<trk>
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<trkseg>
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''')
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def add_footer():
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outf.write('''</trkseg>
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</trk>
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</gpx>
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''')
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add_header()
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count=0
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while True:
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m = mlog.recv_match(type='GPS_RAW', condition=opts.condition)
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if m is None: break
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if m.fix_type != 2 and not opts.nofixcheck:
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continue
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if m.lat == 0.0 or m.lon == 0.0:
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continue
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process_packet(m)
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count += 1
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add_footer()
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print("Created %s with %u points" % (outfilename, count))
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for infilename in args:
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outfilename = infilename + '.gpx'
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mav_to_gpx(infilename, outfilename)
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