forked from Archive/PX4-Autopilot
70 lines
1.6 KiB
Python
70 lines
1.6 KiB
Python
#!/usr/bin/env python
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'''
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example program to extract GPS data from a waypoint file, 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("wptogpx.py [options]")
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(opts, args) = parser.parse_args()
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import mavutil, mavwp
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if len(args) < 1:
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print("Usage: wptogpx.py <WPFILE>")
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sys.exit(1)
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def wp_to_gpx(infilename, outfilename):
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'''convert a wp file to a GPX file'''
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wp = mavwp.MAVWPLoader()
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wp.load(infilename)
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outf = open(outfilename, mode='w')
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def process_wp(w, i):
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t = time.localtime(i)
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outf.write('''<wpt lat="%s" lon="%s">
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<ele>%s</ele>
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<cmt>WP %u</cmt>
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</wpt>
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''' % (w.x, w.y, w.z, i))
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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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''')
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def add_footer():
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outf.write('''
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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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for i in range(wp.count()):
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w = wp.wp(i)
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if w.frame == 3:
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w.z += wp.wp(0).z
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if w.command == 16:
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process_wp(w, i)
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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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wp_to_gpx(infilename, outfilename)
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