def load_mission_from_file(mavproxy, mav, filename):
'''load a mission from a file'''
global num_wp
wploader = mavwp.MAVWPLoader()
wploader.load(filename)
num_wp = wploader.count()
print("loaded mission with %u waypoints" % num_wp)
return True
def main():
mission_path = None
if len(sys.argv) > 1:
mission_path = sys.argv[1]
frame = '+'
# If we were given a mission, use its first waypoint as home.
if mission_path:
wploader = mavwp.MAVWPLoader()
wploader.load(mission_path)
wp = wploader.wp(0)
home = mavutil.location(wp.x, wp.y, wp.z, 0)
run_mission(mission_path, frame, home)
def mavmission(logfile):
'''extract mavlink mission'''
mlog = mavutil.mavlink_connection(filename)
wp = mavwp.MAVWPLoader()
while True:
if mlog.mavlink10():
m = mlog.recv_match(type='MISSION_ITEM')
else:
m = mlog.recv_match(type='WAYPOINT')
if m is None:
break
wp.set(m, m.seq)
wp.save(opts.output)
print("Saved %u waypoints to %s" % (wp.count(), opts.output))
def wp_to_gpx(infilename, outfilename):
'''convert a wp file to a GPX file'''
wp = mavwp.MAVWPLoader()
wp.load(infilename)
outf = open(outfilename, mode='w')
def process_wp(w, i):
t = time.localtime(i)
outf.write('''<wpt lat="%s" lon="%s">
<ele>%s</ele>
<cmt>WP %u</cmt>
</wpt>
''' % (w.x, w.y, w.z, i))
def add_header():
outf.write('''<?xml version="1.0" encoding="UTF-8"?>
<gpx
version="1.0"
creator="pymavlink"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xmlns="http://www.topografix.com/GPX/1/0"
xsi:schemaLocation="http://www.topografix.com/GPX/1/0 http://www.topografix.com/GPX/1/0/gpx.xsd">
''')
def add_footer():
outf.write('''
</gpx>
''')
add_header()
count = 0
for i in range(wp.count()):
w = wp.wp(i)
if w.frame == 3:
w.z += wp.wp(0).z
if w.command == 16:
process_wp(w, i)
count += 1
add_footer()
print("Created %s with %u points" % (outfilename, count))
def mavflightview(filename):
print("Loading %s ..." % filename)
mlog = mavutil.mavlink_connection(filename)
wp = mavwp.MAVWPLoader()
if opts.mission is not None:
wp.load(opts.mission)
path = []
while True:
m = mlog.recv_match(type=['MISSION_ITEM', 'GLOBAL_POSITION_INT'])
if m is None:
break
if m.get_type() == 'GLOBAL_POSITION_INT' and mlog.check_condition(
opts.condition):
if opts.mode is not None and mlog.flightmode.lower(
) != opts.mode.lower():
continue
lat = m.lat * 1.0e-7
lng = m.lon * 1.0e-7
if lat != 0 or lng != 0:
if mlog.flightmode in colourmap:
point = (lat, lng, colourmap[mlog.flightmode])
else:
point = (lat, lng)
path.append(point)
if m.get_type() == 'MISSION_ITEM':
wp.set(m, m.seq)
if len(path) == 0:
print("No points to plot")
return
bounds = mp_util.polygon_bounds(path)
(lat, lon) = (bounds[0] + bounds[2], bounds[1])
(lat, lon) = mp_util.gps_newpos(lat, lon, -45, 50)
ground_width = mp_util.gps_distance(lat, lon, lat - bounds[2],
lon + bounds[3])
while (mp_util.gps_distance(lat, lon, bounds[0], bounds[1])
>= ground_width - 20 or mp_util.gps_distance(
lat, lon, lat, bounds[1] + bounds[3]) >= ground_width - 20):
ground_width += 10
path_obj = mp_slipmap.SlipPolygon('FlightPath',
path,
layer='FlightPath',
linewidth=2,
colour=(255, 0, 180))
mission = wp.polygon()
if len(mission) > 1:
mission_obj = mp_slipmap.SlipPolygon('Mission',
wp.polygon(),
layer='Mission',
linewidth=2,
colour=(255, 255, 255))
else:
mission_obj = None
if opts.imagefile:
create_imagefile(opts.imagefile, (lat, lon), ground_width, path_obj,
mission_obj)
else:
map = mp_slipmap.MPSlipMap(title=filename,
service=opts.service,
elevation=True,
width=600,
height=600,
ground_width=ground_width,
lat=lat,
lon=lon)
map.add_object(path_obj)
if mission_obj is not None:
map.add_object(mission_obj)
def mission_count(filename):
'''load a mission from a file and return number of waypoints'''
wploader = mavwp.MAVWPLoader()
wploader.load(filename)
num_wp = wploader.count()
return num_wp