mavtogpx.py
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00001 #!/usr/bin/env python
00002 
00003 '''
00004 example program to extract GPS data from a mavlink log, 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("--condition", default=None, help="select packets by a condition")
00013 parser.add_argument("--nofixcheck", default=False, action='store_true', help="don't check for GPS fix")
00014 parser.add_argument("logs", metavar="LOG", nargs="+")
00015 args = parser.parse_args()
00016 
00017 from pymavlink import mavutil
00018 
00019 
00020 def mav_to_gpx(infilename, outfilename):
00021     '''convert a mavlink log file to a GPX file'''
00022 
00023     mlog = mavutil.mavlink_connection(infilename)
00024     outf = open(outfilename, mode='w')
00025 
00026     def process_packet(timestamp, lat, lon, alt, hdg, v):
00027         t = time.localtime(timestamp)
00028         outf.write('''<trkpt lat="%s" lon="%s">
00029   <ele>%s</ele>
00030   <time>%s</time>
00031   <course>%s</course>
00032   <speed>%s</speed>
00033   <fix>3d</fix>
00034 </trkpt>
00035 ''' % (lat, lon, alt,
00036        time.strftime("%Y-%m-%dT%H:%M:%SZ", t),
00037        hdg, v))
00038 
00039     def add_header():
00040         outf.write('''<?xml version="1.0" encoding="UTF-8"?>
00041 <gpx
00042   version="1.0"
00043   creator="pymavlink"
00044   xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
00045   xmlns="http://www.topografix.com/GPX/1/0"
00046   xsi:schemaLocation="http://www.topografix.com/GPX/1/0 http://www.topografix.com/GPX/1/0/gpx.xsd">
00047 <trk>
00048 <trkseg>
00049 ''')
00050 
00051     def add_footer():
00052         outf.write('''</trkseg>
00053 </trk>
00054 </gpx>
00055 ''')
00056 
00057     add_header()
00058 
00059     count=0
00060     lat=0
00061     lon=0
00062     fix=0
00063     while True:
00064         m = mlog.recv_match(type=['GPS_RAW', 'GPS_RAW_INT', 'GPS', 'GPS2'], condition=args.condition)
00065         if m is None:
00066             break
00067         if m.get_type() == 'GPS_RAW_INT':
00068             lat = m.lat/1.0e7
00069             lon = m.lon/1.0e7
00070             alt = m.alt/1.0e3
00071             v = m.vel/100.0
00072             hdg = m.cog/100.0
00073             timestamp = m._timestamp
00074             fix = m.fix_type
00075         elif m.get_type() == 'GPS_RAW':
00076             lat = m.lat
00077             lon = m.lon
00078             alt = m.alt
00079             v = m.v
00080             hdg = m.hdg
00081             timestamp = m._timestamp
00082             fix = m.fix_type
00083         elif m.get_type() == 'GPS' or m.get_type() == 'GPS2':
00084             lat = m.Lat
00085             lon = m.Lng
00086             alt = m.Alt
00087             v = m.Spd
00088             hdg = m.GCrs
00089             timestamp = m._timestamp
00090             fix = m.Status
00091         else:
00092             pass
00093 
00094         if fix < 2 and not args.nofixcheck:
00095             continue
00096         if lat == 0.0 or lon == 0.0:
00097             continue
00098         process_packet(timestamp, lat, lon, alt, hdg, v)
00099         count += 1
00100     add_footer()
00101     print("Created %s with %u points" % (outfilename, count))
00102 
00103 
00104 for infilename in args.logs:
00105     outfilename = infilename + '.gpx'
00106     mav_to_gpx(infilename, outfilename)


mavlink
Author(s): Lorenz Meier
autogenerated on Wed Sep 9 2015 18:06:17