Go to the documentation of this file.00001
00002
00003 '''
00004 example program to extract GPS data from a waypoint file, and create a GPX
00005 file, for loading into google earth
00006 '''
00007
00008 import sys, struct, time, os
00009
00010 from argparse import ArgumentParser
00011 parser = ArgumentParser(description=__doc__)
00012 parser.add_argument("wpfiles", metavar="WP_FILE", nargs="+")
00013 args = parser.parse_args()
00014
00015 from pymavlink import mavutil, mavwp
00016
00017
00018 def wp_to_gpx(infilename, outfilename):
00019 '''convert a wp file to a GPX file'''
00020
00021 wp = mavwp.MAVWPLoader()
00022 wp.load(infilename)
00023 outf = open(outfilename, mode='w')
00024
00025 def process_wp(w, i):
00026 t = time.localtime(i)
00027 outf.write('''<wpt lat="%s" lon="%s">
00028 <ele>%s</ele>
00029 <cmt>WP %u</cmt>
00030 </wpt>
00031 ''' % (w.x, w.y, w.z, i))
00032
00033 def add_header():
00034 outf.write('''<?xml version="1.0" encoding="UTF-8"?>
00035 <gpx
00036 version="1.0"
00037 creator="pymavlink"
00038 xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
00039 xmlns="http://www.topografix.com/GPX/1/0"
00040 xsi:schemaLocation="http://www.topografix.com/GPX/1/0 http://www.topografix.com/GPX/1/0/gpx.xsd">
00041 ''')
00042
00043 def add_footer():
00044 outf.write('''
00045 </gpx>
00046 ''')
00047
00048 add_header()
00049
00050 count = 0
00051 for i in range(wp.count()):
00052 w = wp.wp(i)
00053 if w.frame == 3:
00054 w.z += wp.wp(0).z
00055 if w.command == 16:
00056 process_wp(w, i)
00057 count += 1
00058 add_footer()
00059 print("Created %s with %u points" % (outfilename, count))
00060
00061
00062 for infilename in args.wpfiles:
00063 outfilename = infilename + '.gpx'
00064 wp_to_gpx(infilename, outfilename)