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mavtogpx.py: allow specification of which message to actually plot #992

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Merged
tridge merged 1 commit into from
Oct 25, 2024
Merged

mavtogpx.py: allow specification of which message to actually plot #992

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28 changes: 25 additions & 3 deletions tools/mavtogpx.py
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Original file line number Diff line number Diff line change
Expand Up @@ -6,19 +6,21 @@
'''
from __future__ import print_function

import math
import time

from argparse import ArgumentParser
parser = ArgumentParser(description=__doc__)
parser.add_argument("--condition", default=None, help="select packets by a condition")
parser.add_argument("--nofixcheck", default=False, action='store_true', help="don't check for GPS fix")
parser.add_argument("--type", default=[], nargs="*")
parser.add_argument("logs", metavar="LOG", nargs="+")
args = parser.parse_args()

from pymavlink import mavutil


def mav_to_gpx(infilename, outfilename):
def mav_to_gpx(infilename, outfilename, display_types=None):
'''convert a mavlink log file to a GPX file'''

mlog = mavutil.mavlink_connection(infilename)
Expand Down Expand Up @@ -61,8 +63,12 @@ def add_footer():
lat=0
lon=0
fix=0

match_types =['GPS_RAW', 'GPS_RAW_INT', 'GPS', 'GPS2', 'GLOBAL_POSITION_INT', 'POS']
if display_types is None or len(display_types) == 0:
display_types = match_types
while True:
m = mlog.recv_match(type=['GPS_RAW', 'GPS_RAW_INT', 'GPS', 'GPS2'], condition=args.condition)
m = mlog.recv_match(type=match_types, condition=args.condition)
if m is None:
break
if m.get_type() == 'GPS_RAW_INT':
Expand All @@ -73,6 +79,14 @@ def add_footer():
hdg = m.cog/100.0
timestamp = m._timestamp
fix = m.fix_type
elif m.get_type() == 'GLOBAL_POSITION_INT':
lat = m.lat/1.0e7
lon = m.lon/1.0e7
alt = m.alt/1.0e3
v = math.sqrt(m.vx**2+m.vy**2)/100.0 # nb. 2D?!
hdg = m.hdg/100.0
timestamp = m._timestamp
# fix = m.fix_type
elif m.get_type() == 'GPS_RAW':
lat = m.lat
lon = m.lon
Expand All @@ -89,13 +103,21 @@ def add_footer():
hdg = m.GCrs
timestamp = m._timestamp
fix = m.Status
elif m.get_type() == 'POS':
lat = m.Lat
lon = m.Lng
alt = m.Alt
else:
pass

if fix < 2 and not args.nofixcheck:
continue
if lat == 0.0 or lon == 0.0:
continue

if m.get_type() not in display_types:
continue

process_packet(timestamp, lat, lon, alt, hdg, v)
count += 1
add_footer()
Expand All @@ -104,4 +126,4 @@ def add_footer():

for infilename in args.logs:
outfilename = infilename + '.gpx'
mav_to_gpx(infilename, outfilename)
mav_to_gpx(infilename, outfilename, display_types=args.type)