def area_to_tile_list(self, lat, lon, width, height, ground_width, zoom=None):
'''return a list of TileInfoScaled objects needed for
an area of land, with ground_width in meters, and
width/height in pixels.
lat/lon is the top left corner. If unspecified, the
zoom is automatically chosen to avoid having to grow
the tiles
'''
pixel_width = ground_width / float(width)
ground_height = ground_width * (height/(float(width)))
top_right = mp_util.gps_newpos(lat, lon, 90, ground_width)
bottom_left = mp_util.gps_newpos(lat, lon, 180, ground_height)
ground_width_bottom = ground_width * cos(radians(lat)) / max(1.0e-15,cos(radians(bottom_left[0])))
bottom_right = mp_util.gps_newpos(bottom_left[0], bottom_left[1], 90, ground_width_bottom)
# choose a zoom level if not provided
if zoom is None:
zooms = range(self.min_zoom, self.max_zoom+1)
else:
zooms = [zoom]
for zoom in zooms:
tile_min = self.coord_to_tile(lat, lon, zoom)
(twidth,theight) = tile_min.size()
tile_pixel_width = twidth / float(TILES_WIDTH)
scale = pixel_width / tile_pixel_width
if scale >= 1.0:
break
scaled_tile_width = int(TILES_WIDTH / scale)
scaled_tile_height = int(TILES_HEIGHT / scale)
# work out the bottom right tile
tile_max = self.coord_to_tile(bottom_right[0], bottom_right[1], zoom)
ofsx = int(tile_min.offsetx / scale)
ofsy = int(tile_min.offsety / scale)
srcy = ofsy
dsty = 0
ret = []
# place the tiles
for y in range(tile_min.y, tile_max.y+1):
srcx = ofsx
dstx = 0
world_tiles = 1<<zoom
lim_x = (tile_max.x+1) % world_tiles
x = tile_min.x
while x != lim_x:
if dstx < width and dsty < height:
ret.append(TileInfoScaled((x,y), zoom, scale,
(srcx,srcy), (dstx,dsty), self.service))
dstx += scaled_tile_width-srcx
srcx = 0
x = (x+1) % world_tiles
dsty += scaled_tile_height-srcy
srcy = 0
return ret
def draw(self, img, pixmapper, bounds):
'''draw a polygon on the image'''
if self.hidden:
return
(lat,lon,w,h) = bounds
# note that w and h are in degrees
spacing = 1000
while True:
start = mp_util.latlon_round((lat,lon), spacing)
lat2 = mp_util.constrain(lat+h*0.5,-85,85)
lon2 = mp_util.wrap_180(lon+w)
dist = mp_util.gps_distance(lat2,lon,lat2,lon2)
count = int(dist / spacing)
if count < 2:
spacing /= 10
elif count > 50:
spacing *= 10
else:
break
count += 10
for i in range(count):
# draw vertical lines of constant longitude
pos1 = mp_util.gps_newpos(start[0], start[1], 90, i*spacing)
pos3 = (pos1[0]+h*2, pos1[1])
self.draw_line(img, pixmapper, pos1, pos3, self.colour, self.linewidth)
# draw horizontal lines of constant latitude
pos1 = mp_util.gps_newpos(start[0], start[1], 0, i*spacing)
pos3 = (pos1[0], pos1[1]+w*2)
self.draw_line(img, pixmapper, pos1, pos3, self.colour, self.linewidth)
def draw(self, img, pixmapper, bounds):
'''draw a polygon on the image'''
if self.hidden:
return
(x, y, w, h) = bounds
spacing = 1000
while True:
start = mp_util.latlon_round((x, y), spacing)
dist = mp_util.gps_distance(x, y, x + w, y + h)
count = int(dist / spacing)
if count < 2:
spacing /= 10
elif count > 50:
spacing *= 10
else:
break
for i in range(count * 2 + 2):
pos1 = mp_util.gps_newpos(start[0], start[1], 90, i * spacing)
pos3 = mp_util.gps_newpos(pos1[0], pos1[1], 0, 3 * count * spacing)
self.draw_line(img, pixmapper, pos1, pos3, self.colour,
self.linewidth)
pos1 = mp_util.gps_newpos(start[0], start[1], 0, i * spacing)
pos3 = mp_util.gps_newpos(pos1[0], pos1[1], 90,
3 * count * spacing)
self.draw_line(img, pixmapper, pos1, pos3, self.colour,
self.linewidth)
def draw(self, img, pixmapper, bounds):
'''draw a polygon on the image'''
if self.hidden:
return
(x,y,w,h) = bounds
spacing = 1000
while True:
start = mp_util.latlon_round((x,y), spacing)
dist = mp_util.gps_distance(x,y,x+w,y+h)
count = int(dist / spacing)
if count < 2:
spacing /= 10
elif count > 50:
spacing *= 10
else:
break
for i in range(count*2+2):
pos1 = mp_util.gps_newpos(start[0], start[1], 90, i*spacing)
pos3 = mp_util.gps_newpos(pos1[0], pos1[1], 0, 3*count*spacing)
self.draw_line(img, pixmapper, pos1, pos3, self.colour, self.linewidth)
pos1 = mp_util.gps_newpos(start[0], start[1], 0, i*spacing)
pos3 = mp_util.gps_newpos(pos1[0], pos1[1], 90, 3*count*spacing)
self.draw_line(img, pixmapper, pos1, pos3, self.colour, self.linewidth)
def area_to_tile_list(self, lat, lon, width, height, ground_width, zoom=None):
'''return a list of TileInfoScaled objects needed for
an area of land, with ground_width in meters, and
width/height in pixels.
lat/lon is the top left corner. If unspecified, the
zoom is automatically chosen to avoid having to grow
the tiles
'''
pixel_width = ground_width / float(width)
ground_height = ground_width * (height/(float(width)))
top_right = mp_util.gps_newpos(lat, lon, 90, ground_width)
bottom_left = mp_util.gps_newpos(lat, lon, 180, ground_height)
bottom_right = mp_util.gps_newpos(bottom_left[0], bottom_left[1], 90, ground_width)
# choose a zoom level if not provided
if zoom is None:
zooms = range(self.min_zoom, self.max_zoom+1)
else:
zooms = [zoom]
for zoom in zooms:
tile_min = self.coord_to_tile(lat, lon, zoom)
(twidth,theight) = tile_min.size()
tile_pixel_width = twidth / float(TILES_WIDTH)
scale = pixel_width / tile_pixel_width
if scale >= 1.0:
break
scaled_tile_width = int(TILES_WIDTH / scale)
scaled_tile_height = int(TILES_HEIGHT / scale)
# work out the bottom right tile
tile_max = self.coord_to_tile(bottom_right[0], bottom_right[1], zoom)
ofsx = int(tile_min.offsetx / scale)
ofsy = int(tile_min.offsety / scale)
srcy = ofsy
dsty = 0
ret = []
# place the tiles
for y in range(tile_min.y, tile_max.y+1):
srcx = ofsx
dstx = 0
for x in range(tile_min.x, tile_max.x+1):
if dstx < width and dsty < height:
ret.append(TileInfoScaled((x,y), zoom, scale,
(srcx,srcy), (dstx,dsty), self.service))
dstx += scaled_tile_width-srcx
srcx = 0
dsty += scaled_tile_height-srcy
srcy = 0
return ret
def update_target(self, time_boot_ms):
'''update target on map'''
if not self.mpstate.map:
# don't draw if no map
return
if not 'HOME_POSITION' in self.master.messages:
return
home_position = self.master.messages['HOME_POSITION']
now = time_boot_ms * 1.0e-3
dt = now - self.last_update
if dt < 0:
dt = 0
self.last_update = now
self.circle_dist += dt * self.follow_settings.speed
# assume a circle for now
circumference = math.pi * self.follow_settings.radius * 2
rotations = math.fmod(self.circle_dist, circumference) / circumference
angle = math.pi * 2 * rotations
self.target_pos = mp_util.gps_newpos(home_position.latitude*1.0e-7,
home_position.longitude*1.0e-7,
math.degrees(angle),
self.follow_settings.radius)
icon = self.mpstate.map.icon('camera-small-red.png')
(lat, lon) = (self.target_pos[0], self.target_pos[1])
self.mpstate.map.add_object(mp_slipmap.SlipIcon('followtest',
(lat, lon),
icon, layer='FollowTest', rotation=0, follow=False))
def cmd_wp_move_rel_home(self, args, latlon=None):
'''handle wp move to a point relative to home by dist/bearing'''
if len(args) < 3:
print("usage: wp moverelhome WPNUM dist bearing")
return
idx = int(args[0])
if idx < 1 or idx > self.wploader.count():
print("Invalid wp number %u" % idx)
return
dist = float(args[1])
bearing = float(args[2])
home = self.get_home()
if home is None:
print("Need home")
return
wp = self.wploader.wp(idx)
if not self.wploader.is_location_command(wp.command):
print("Not a nav command")
return
(newlat, newlon) = mp_util.gps_newpos(home.x, home.y, bearing, dist)
wp.x = newlat
wp.y = newlon
wp.target_system = self.target_system
wp.target_component = self.target_component
self.wploader.set(wp, idx)
self.loading_waypoints = True
self.loading_waypoint_lasttime = time.time()
self.master.mav.mission_write_partial_list_send(self.target_system,
self.target_component,
idx, idx+1)
print("Moved WP %u %.1fm bearing %.1f from home" % (idx, dist, bearing))
def on_mouse(self, event):
'''handle mouse events'''
state = self.state
pos = event.GetPosition()
if event.Leaving():
self.mouse_pos = None
else:
self.mouse_pos = pos
self.update_position()
if event.ButtonIsDown(wx.MOUSE_BTN_ANY) or event.ButtonUp():
# send any event with a mouse button to the parent
latlon = self.coordinates(pos.x, pos.y)
selected = self.selected_objects(pos)
state.event_queue.put(SlipMouseEvent(latlon, event, selected))
if event.LeftDown():
self.mouse_down = pos
self.last_click_pos = self.click_pos
self.click_pos = self.coordinates(pos.x, pos.y)
if event.Dragging() and event.ButtonIsDown(wx.MOUSE_BTN_LEFT):
# drag map to new position
newpos = pos
dx = (self.mouse_down.x - newpos.x)
dy = -(self.mouse_down.y - newpos.y)
pdist = math.sqrt(dx**2 + dy**2)
if pdist > state.drag_step:
bearing = math.degrees(math.atan2(dx, dy))
distance = (state.ground_width/float(state.width)) * pdist
newlatlon = mp_util.gps_newpos(state.lat, state.lon, bearing, distance)
(state.lat, state.lon) = newlatlon
self.mouse_down = newpos
self.redraw_map()
def on_mouse(self, event):
'''handle mouse events'''
state = self.state
pos = event.GetPosition()
if event.Leaving():
self.mouse_pos = None
else:
self.mouse_pos = pos
self.update_position()
if event.ButtonIsDown(wx.MOUSE_BTN_ANY) or event.ButtonUp():
# send any event with a mouse button to the parent
latlon = self.coordinates(pos.x, pos.y)
selected = self.selected_objects(pos)
state.event_queue.put(SlipMouseEvent(latlon, event, selected))
if event.LeftDown():
self.mouse_down = pos
self.last_click_pos = self.click_pos
self.click_pos = self.coordinates(pos.x, pos.y)
if event.Dragging() and event.ButtonIsDown(wx.MOUSE_BTN_LEFT):
# drag map to new position
newpos = pos
dx = (self.mouse_down.x - newpos.x)
dy = -(self.mouse_down.y - newpos.y)
pdist = math.sqrt(dx**2 + dy**2)
if pdist > state.drag_step:
bearing = math.degrees(math.atan2(dx, dy))
distance = (state.ground_width / float(state.width)) * pdist
newlatlon = mp_util.gps_newpos(state.lat, state.lon, bearing,
distance)
(state.lat, state.lon) = newlatlon
self.mouse_down = newpos
self.redraw_map()
def update_target(self, time_boot_ms):
'''update target on map'''
if not self.mpstate.map:
# don't draw if no map
return
if not 'HOME_POSITION' in self.master.messages:
return
home_position = self.master.messages['HOME_POSITION']
now = time_boot_ms * 1.0e-3
dt = now - self.last_update
if dt < 0:
dt = 0
self.last_update = now
self.circle_dist += dt * self.follow_settings.speed
# assume a circle for now
circumference = math.pi * self.follow_settings.radius * 2
rotations = math.fmod(self.circle_dist, circumference) / circumference
angle = math.pi * 2 * rotations
self.target_pos = mp_util.gps_newpos(home_position.latitude * 1.0e-7,
home_position.longitude * 1.0e-7,
math.degrees(angle),
self.follow_settings.radius)
icon = self.mpstate.map.icon('camera-small-red.png')
(lat, lon) = (self.target_pos[0], self.target_pos[1])
self.mpstate.map.add_object(
mp_slipmap.SlipIcon('followtest', (lat, lon),
icon,
layer='FollowTest',
rotation=0,
follow=False))
def re_center(self, x, y, lat, lon):
'''re-center view for pixel x,y'''
state = self.state
if lat is None or lon is None:
return
(lat2,lon2) = self.coordinates(x, y)
distance = mp_util.gps_distance(lat2, lon2, lat, lon)
bearing = mp_util.gps_bearing(lat2, lon2, lat, lon)
(state.lat, state.lon) = mp_util.gps_newpos(state.lat, state.lon, bearing, distance)
def re_center(self, x, y, lat, lon):
'''re-center view for pixel x,y'''
state = self.state
if lat is None or lon is None:
return
(lat2,lon2) = self.coordinates(x, y)
distance = mp_util.gps_distance(lat2, lon2, lat, lon)
bearing = mp_util.gps_bearing(lat2, lon2, lat, lon)
(state.lat, state.lon) = mp_util.gps_newpos(state.lat, state.lon, bearing, distance)
def mavlink_packet(m):
'''handle an incoming mavlink packet'''
state = mpstate.cameraview_state
if m.get_type() == 'GLOBAL_POSITION_INT':
state.lat, state.lon = m.lat*scale_latlon, m.lon*scale_latlon
state.hdg = m.hdg*scale_hdg
state.height = m.relative_alt*scale_relative_alt + state.home_height - state.elevation_model.GetElevation(state.lat, state.lon)
elif m.get_type() == 'ATTITUDE':
state.roll, state.pitch, state.yaw = math.degrees(m.roll), math.degrees(m.pitch), math.degrees(m.yaw)
elif m.get_type() in ['GPS_RAW', 'GPS_RAW_INT']:
if mpstate.wp_state.wploader.count() > 0:
home = mpstate.wp_state.wploader.wp(0).x, mpstate.wp_state.wploader.wp(0).y
else:
home = [mpstate.master().field('HOME', c)*scale_latlon for c in ['lat', 'lon']]
old = state.home_height # TODO TMP
state.home_height = state.elevation_model.GetElevation(*home)
# TODO TMP
if state.home_height != old:
# tridge said to get home pos from wploader,
# but this is not the same as from master() below...!!
# using master() gives the right coordinates
# (i.e. matches GLOBAL_POSITION_INT coords, and $IMHOME in sim_arduplane.sh)
# and wploader is a bit off
print 'home height changed from',old,'to',state.home_height
elif m.get_type() == 'SERVO_OUTPUT_RAW':
for (axis, attr) in [('ROLL', 'mount_roll'), ('TILT', 'mount_pitch'), ('PAN', 'mount_yaw')]:
channel = int(mpstate.mav_param.get('MNT_RC_IN_{0}'.format(axis), 0))
if mpstate.mav_param.get('MNT_STAB_{0}'.format(axis), 0) and channel:
# enabled stabilisation on this axis
# TODO just guessing that RC_IN_ROLL gives the servo number, but no idea if this is really the case
servo = 'servo{0}_raw'.format(channel)
centidegrees = scale_rc(getattr(m, servo),
mpstate.mav_param.get('MNT_ANGMIN_{0}'.format(axis[:3])),
mpstate.mav_param.get('MNT_ANGMAX_{0}'.format(axis[:3])),
param='RC{0}'.format(channel))
setattr(state, attr, centidegrees*0.01)
#state.mount_roll = min(max(-state.roll,-45),45)#TODO TMP
#state.mount_yaw = min(max(-state.yaw,-45),45)#TODO TMP
#state.mount_pitch = min(max(-state.pitch,-45),45)#TODO TMP
else:
return
if mpstate.map: # if the map module is loaded, redraw polygon
# get rid of the old polygon
mpstate.map.add_object(mp_slipmap.SlipClearLayer('CameraView'))
# camera view polygon determined by projecting corner pixels of the image onto the ground
pixel_positions = [cuav_util.pixel_position(px[0],px[1], state.height, state.pitch+state.mount_pitch, state.roll+state.mount_roll, state.yaw+state.mount_yaw, state.camera_params) for px in [(0,0), (state.camera_params.xresolution,0), (state.camera_params.xresolution,state.camera_params.yresolution), (0,state.camera_params.yresolution)]]
if any(pixel_position is None for pixel_position in pixel_positions):
# at least one of the pixels is not on the ground
# so it doesn't make sense to try to draw the polygon
return
gps_positions = [mp_util.gps_newpos(state.lat, state.lon, math.degrees(math.atan2(*pixel_position)), math.hypot(*pixel_position)) for pixel_position in pixel_positions]
# draw new polygon
mpstate.map.add_object(mp_slipmap.SlipPolygon('cameraview', gps_positions+[gps_positions[0]], # append first element to close polygon
layer='CameraView', linewidth=2, colour=state.col))
def mavlink_packet(self, m):
'''handle an incoming mavlink packet'''
state = self
if m.get_type() == 'GLOBAL_POSITION_INT':
state.lat, state.lon = m.lat*scale_latlon, m.lon*scale_latlon
state.hdg = m.hdg*scale_hdg
state.height = m.relative_alt*scale_relative_alt + state.home_height - state.elevation_model.GetElevation(state.lat, state.lon)
elif m.get_type() == 'ATTITUDE':
state.roll, state.pitch, state.yaw = math.degrees(m.roll), math.degrees(m.pitch), math.degrees(m.yaw)
elif m.get_type() in ['GPS_RAW', 'GPS_RAW_INT']:
if self.module('wp').wploader.count() > 0:
home = self.module('wp').wploader.wp(0).x, self.module('wp').wploader.wp(0).y
else:
home = [self.master.field('HOME', c)*scale_latlon for c in ['lat', 'lon']]
old = state.home_height # TODO TMP
state.home_height = state.elevation_model.GetElevation(*home)
# TODO TMP
if state.home_height != old:
# tridge said to get home pos from wploader,
# but this is not the same as from master() below...!!
# using master() gives the right coordinates
# (i.e. matches GLOBAL_POSITION_INT coords, and $IMHOME in sim_arduplane.sh)
# and wploader is a bit off
print 'home height changed from',old,'to',state.home_height
elif m.get_type() == 'SERVO_OUTPUT_RAW':
for (axis, attr) in [('ROLL', 'mount_roll'), ('TILT', 'mount_pitch'), ('PAN', 'mount_yaw')]:
channel = int(self.get_mav_param('MNT_RC_IN_{0}'.format(axis), 0))
if self.get_mav_param('MNT_STAB_{0}'.format(axis), 0) and channel:
# enabled stabilisation on this axis
# TODO just guessing that RC_IN_ROLL gives the servo number, but no idea if this is really the case
servo = 'servo{0}_raw'.format(channel)
centidegrees = self.scale_rc(getattr(m, servo),
self.get_mav_param('MNT_ANGMIN_{0}'.format(axis[:3])),
self.get_mav_param('MNT_ANGMAX_{0}'.format(axis[:3])),
param='RC{0}'.format(channel))
setattr(state, attr, centidegrees*0.01)
#state.mount_roll = min(max(-state.roll,-45),45)#TODO TMP
#state.mount_yaw = min(max(-state.yaw,-45),45)#TODO TMP
#state.mount_pitch = min(max(-state.pitch,-45),45)#TODO TMP
else:
return
if self.mpstate.map: # if the map module is loaded, redraw polygon
# get rid of the old polygon
self.mpstate.map.add_object(mp_slipmap.SlipClearLayer('CameraView'))
# camera view polygon determined by projecting corner pixels of the image onto the ground
pixel_positions = [cuav_util.pixel_position(px[0],px[1], state.height, state.pitch+state.mount_pitch, state.roll+state.mount_roll, state.yaw+state.mount_yaw, state.camera_params) for px in [(0,0), (state.camera_params.xresolution,0), (state.camera_params.xresolution,state.camera_params.yresolution), (0,state.camera_params.yresolution)]]
if any(pixel_position is None for pixel_position in pixel_positions):
# at least one of the pixels is not on the ground
# so it doesn't make sense to try to draw the polygon
return
gps_positions = [mp_util.gps_newpos(state.lat, state.lon, math.degrees(math.atan2(*pixel_position)), math.hypot(*pixel_position)) for pixel_position in pixel_positions]
# draw new polygon
self.mpstate.map.add_object(mp_slipmap.SlipPolygon('cameraview', gps_positions+[gps_positions[0]], # append first element to close polygon
layer='CameraView', linewidth=2, colour=state.col))
def on_mouse(self, event):
'''handle mouse events'''
state = self.state
pos = event.GetPosition()
if event.Leaving():
self.mouse_pos = None
else:
self.mouse_pos = pos
self.update_position()
if event.ButtonIsDown(wx.MOUSE_BTN_ANY) or event.ButtonUp():
# send any event with a mouse button to the parent
latlon = self.coordinates(pos.x, pos.y)
selected = self.selected_objects(pos)
state.event_queue.put(SlipMouseEvent(latlon, event, selected))
if event.RightDown():
state.popup_object = None
state.popup_latlon = None
if len(selected) > 0:
obj = state.layers[selected[0].layer][selected[0].objkey]
if obj.popup_menu is not None:
state.popup_object = obj
state.popup_latlon = latlon
self.show_popup(obj, pos)
state.popup_started = True
if not state.popup_started and state.default_popup is not None:
state.popup_latlon = latlon
self.show_default_popup(pos)
state.popup_started = True
if not event.ButtonIsDown(wx.MOUSE_BTN_RIGHT):
state.popup_started = False
if event.LeftDown() or event.RightDown():
self.mouse_down = pos
self.last_click_pos = self.click_pos
self.click_pos = self.coordinates(pos.x, pos.y)
if event.Dragging() and event.ButtonIsDown(wx.MOUSE_BTN_LEFT):
# drag map to new position
newpos = pos
if self.mouse_down and newpos:
dx = (self.mouse_down.x - newpos.x)
dy = -(self.mouse_down.y - newpos.y)
pdist = math.sqrt(dx**2 + dy**2)
if pdist > state.drag_step:
bearing = math.degrees(math.atan2(dx, dy))
distance = (state.ground_width /
float(state.width)) * pdist
newlatlon = mp_util.gps_newpos(state.lat, state.lon,
bearing, distance)
(state.lat, state.lon) = newlatlon
self.mouse_down = newpos
self.redraw_map()
def on_mouse(self, event):
'''handle mouse events'''
state = self.state
pos = event.GetPosition()
if event.Leaving():
self.mouse_pos = None
else:
self.mouse_pos = pos
self.update_position()
if event.ButtonIsDown(wx.MOUSE_BTN_ANY) or event.ButtonUp():
# send any event with a mouse button to the parent
latlon = self.coordinates(pos.x, pos.y)
selected = self.selected_objects(pos)
state.event_queue.put(SlipMouseEvent(latlon, event, selected))
if event.RightDown():
state.popup_object = None
state.popup_latlon = None
if len(selected) > 0:
obj = state.layers[selected[0].layer][selected[0].objkey]
if obj.popup_menu is not None:
state.popup_object = obj
state.popup_latlon = latlon
self.show_popup(obj, pos)
state.popup_started = True
if not state.popup_started and state.default_popup is not None:
state.popup_latlon = latlon
self.show_default_popup(pos)
state.popup_started = True
if not event.ButtonIsDown(wx.MOUSE_BTN_RIGHT):
state.popup_started = False
if event.LeftDown() or event.RightDown():
self.mouse_down = pos
self.last_click_pos = self.click_pos
self.click_pos = self.coordinates(pos.x, pos.y)
if event.Dragging() and event.ButtonIsDown(wx.MOUSE_BTN_LEFT):
# drag map to new position
newpos = pos
if self.mouse_down and newpos:
dx = (self.mouse_down.x - newpos.x)
dy = -(self.mouse_down.y - newpos.y)
pdist = math.sqrt(dx**2 + dy**2)
if pdist > state.drag_step:
bearing = math.degrees(math.atan2(dx, dy))
distance = (state.ground_width/float(state.width)) * pdist
newlatlon = mp_util.gps_newpos(state.lat, state.lon, bearing, distance)
(state.lat, state.lon) = newlatlon
self.mouse_down = newpos
self.redraw_map()
def find_location_by_name(autotest, locname):
"""Search locations.txt for locname, return GPS coords"""
locations_userpath = os.environ.get('ARDUPILOT_LOCATIONS',
get_user_locations_path())
locations_filepath = os.path.join(autotest, "locations.txt")
swarm_init_filepath = os.path.join(autotest, "locations.txt")
comment_regex = re.compile("\s*#.*")
for path in [locations_userpath, locations_filepath]:
if not os.path.isfile(path):
continue
with open(path, 'r') as fd:
for line in fd:
line = re.sub(comment_regex, "", line)
line = line.rstrip("\n")
if len(line) == 0:
continue
(name, loc) = line.split("=")
if name == locname:
if cmd_opts.swarm :
(lat, lon, alt, heading)=loc.split(",")
for path2 in [swarm_init_filepath]:
if os.path.isfile(path2):
with open(path2,'r') as swd:
for lines in swd:
if len(lines) == 0:
continue
(instance, offset) = lines.split("=")
if ((int)(instance) == (int)cmd_opts.instance):
(dist, heading) = offset.split(",")
g=mp_util.gps_newpos((float)(lat), (float)(lon), (float)(heading), (float)(dist))
loc=str(g[0])+","+str(g[1])+","+str(alt)+","+str(heading)
return loc
g=mp_util.gps_newpos((float)(lat), (float)(lon), 90, 20*(int)(cmd_opts.instance))
loc=str(g[0])+","+str(g[1])+","+str(alt)+","+str(heading)
return loc
return loc
def mavlink_packet(m):
'''handle an incoming mavlink packet'''
state = mpstate.map_state
if m.get_type() == "SIMSTATE":
if not mpstate.map_state.have_simstate:
mpstate.map_state.have_simstate = True
create_blueplane()
mpstate.map.set_position('blueplane', (m.lat, m.lng), rotation=math.degrees(m.yaw))
if m.get_type() == "GPS_RAW_INT" and not mpstate.map_state.have_simstate:
(lat, lon) = (m.lat*1.0e-7, m.lon*1.0e-7)
if state.lat is not None and (mpstate.map_state.have_blueplane or
mp_util.gps_distance(lat, lon, state.lat, state.lon) > 10):
create_blueplane()
mpstate.map.set_position('blueplane', (lat, lon), rotation=m.cog*0.01)
if m.get_type() == "NAV_CONTROLLER_OUTPUT":
if mpstate.master().flightmode in [ "AUTO", "GUIDED", "LOITER", "RTL" ]:
trajectory = [ (state.lat, state.lon),
mp_util.gps_newpos(state.lat, state.lon, m.target_bearing, m.wp_dist) ]
mpstate.map.add_object(mp_slipmap.SlipPolygon('trajectory', trajectory, layer='Trajectory',
linewidth=2, colour=(255,0,180)))
else:
mpstate.map.add_object(mp_slipmap.SlipClearLayer('Trajectory'))
if m.get_type() == 'GLOBAL_POSITION_INT':
(state.lat, state.lon, state.heading) = (m.lat*1.0e-7, m.lon*1.0e-7, m.hdg*0.01)
else:
return
if state.lat != 0 or state.lon != 0:
mpstate.map.set_position('plane', (state.lat, state.lon), rotation=state.heading)
# if the waypoints have changed, redisplay
if state.wp_change_time != mpstate.status.wploader.last_change:
state.wp_change_time = mpstate.status.wploader.last_change
display_waypoints()
# if the fence has changed, redisplay
if state.fence_change_time != mpstate.status.fenceloader.last_change:
state.fence_change_time = mpstate.status.fenceloader.last_change
points = mpstate.status.fenceloader.polygon()
if len(points) > 1:
mpstate.map.add_object(mp_slipmap.SlipPolygon('fence', points, layer=1, linewidth=2, colour=(0,255,0)))
# check for any events from the map
mpstate.map.check_events()
def mavlink_packet_distance_sensor(self, vehicle, m):
heading = self.heading_for_vehicle.get(vehicle, 0)
tlayer = "Distance sensor for %u.%u id=%u" % (
m.get_srcSystem(), m.get_srcComponent(), m.id)
slipkey = '%s-POS%u' % (tlayer, m.orientation)
if not m.get_srcSystem() in self.lat_lon_for_vehicle:
return
if m.current_distance == m.max_distance:
self.foreach_map(lambda a_map : a_map.remove_object(slipkey))
return
(lat,lon) = self.lat_lon_for_vehicle[m.get_srcSystem()]
mav_sensor_rotation_to_degrees = {
mavutil.mavlink.MAV_SENSOR_ROTATION_NONE: 0,
mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_45: 45,
mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_90: 90,
mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_135 : 135,
mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_180: 180,
mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_225 : 225,
mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_270 : 270,
mavutil.mavlink.MAV_SENSOR_ROTATION_YAW_315 : 315,
}
if m.orientation in mav_sensor_rotation_to_degrees:
degrees = mav_sensor_rotation_to_degrees[m.orientation]
else:
# print("bad orientation (%u)" % m.orientation)
return
if m.current_distance >= m.max_distance:
return
p = mp_util.gps_newpos(lat, lon, heading+degrees, 0)
# start angle/end angle are either side of the primary axis,
# which is rotated to be North
start_angle = -22.5
end_angle = 22.5
self.foreach_map(lambda a_map :
a_map.add_object(mp_slipmap.SlipCircle(
slipkey,
3,
p,
m.current_distance/100.0,
(255, 127, 0),
linewidth=3,
start_angle=start_angle,
end_angle=end_angle,
rotation=(-90+(heading+degrees))%360,
))
)
def find_new_spawn(loc, file_path):
(lat, lon, alt, heading)=loc.split(",")
swarminit_filepath = os.path.join(autotest, "swarminit.txt")
for path2 in [file_path, swarminit_filepath]:
if os.path.isfile(path2):
with open(path2,'r') as swd:
next(swd)
for lines in swd:
if len(lines) == 0:
continue
(instance, offset) = lines.split("=")
if ((int)(instance) == (int)(cmd_opts.instance)):
(x,y,z,head) = offset.split(",")
g=mp_util.gps_offset((float)(lat), (float)(lon), (float)(x), (float)(y))
loc=str(g[0])+","+str(g[1])+","+str(alt+z)+","+str(head)
return loc
g=mp_util.gps_newpos((float)(lat), (float)(lon), 90, 20*(int)(cmd_opts.instance))
loc=str(g[0])+","+str(g[1])+","+str(alt)+","+str(heading)
return loc
def find_new_spawn(loc, file_path):
(lat, lon, alt, heading) = loc.split(",")
swarminit_filepath = os.path.join(find_autotest_dir(), "swarminit.txt")
for path2 in [file_path, swarminit_filepath]:
if os.path.isfile(path2):
with open(path2, 'r') as swd:
next(swd)
for lines in swd:
if len(lines) == 0:
continue
(instance, offset) = lines.split("=")
if ((int)(instance) == (int)(cmd_opts.instance)):
(x, y, z, head) = offset.split(",")
g = mp_util.gps_offset((float)(lat), (float)(lon), (float)(x), (float)(y))
loc = str(g[0])+","+str(g[1])+","+str(alt+z)+","+str(head)
return loc
g = mp_util.gps_newpos((float)(lat), (float)(lon), 90, 20*(int)(cmd_opts.instance))
loc = str(g[0])+","+str(g[1])+","+str(alt)+","+str(heading)
return loc
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)
fen = mavwp.MAVFenceLoader()
if opts.fence is not None:
fen.load(opts.fence)
path = [[]]
types = ['MISSION_ITEM']
if opts.rawgps:
types.extend(['GPS', 'GPS_RAW_INT'])
if opts.rawgps2:
types.extend(['GPS2_RAW','GPS2'])
if opts.dualgps:
types.extend(['GPS2_RAW','GPS2', 'GPS_RAW_INT', 'GPS'])
if opts.ekf:
types.extend(['EKF1'])
if len(types) == 1:
types.extend(['GPS','GLOBAL_POSITION_INT'])
print("Looking for types %s" % str(types))
while True:
try:
m = mlog.recv_match(type=types)
if m is None:
break
except Exception:
break
if m.get_type() == 'MISSION_ITEM':
wp.set(m, m.seq)
continue
if not mlog.check_condition(opts.condition):
continue
if opts.mode is not None and mlog.flightmode.lower() != opts.mode.lower():
continue
if m.get_type() in ['GPS','GPS2']:
status = getattr(m, 'Status', None)
if status is None:
status = getattr(m, 'FixType', None)
if status is None:
print("Can't find status on GPS message")
print(m)
break
if status < 2:
continue
# flash log
lat = m.Lat
lng = getattr(m, 'Lng', None)
if lng is None:
lng = getattr(m, 'Lon', None)
if lng is None:
print("Can't find longitude on GPS message")
print(m)
break
elif m.get_type() == 'EKF1':
pos = mavextra.ekf1_pos(m)
if pos is None:
continue
(lat, lng) = pos
else:
lat = m.lat * 1.0e-7
lng = m.lon * 1.0e-7
instance = 0
if opts.dualgps and m.get_type() in ['GPS2_RAW', 'GPS2']:
instance = 1
if m.get_type() == 'EKF1':
if opts.dualgps:
instance = 2
else:
instance = 1
if lat != 0 or lng != 0:
if getattr(mlog, 'flightmode','') in colourmap:
colour = colourmap[mlog.flightmode]
(r,g,b) = colour
(r,g,b) = (r+instance*50,g+instance*50,b+instance*50)
if r > 255:
r = 205
if g > 255:
g = 205
if b > 255:
b = 205
colour = (r,g,b)
point = (lat, lng, colour)
else:
point = (lat, lng)
while instance >= len(path):
path.append([])
path[instance].append(point)
if len(path[0]) == 0:
print("No points to plot")
return
bounds = mp_util.polygon_bounds(path[0])
(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_objs = []
for i in range(len(path)):
if len(path[i]) != 0:
path_objs.append(mp_slipmap.SlipPolygon('FlightPath[%u]-%s' % (i,filename), path[i], layer='FlightPath',
linewidth=2, colour=(255,0,180)))
mission = wp.polygon()
if len(mission) > 1:
mission_obj = mp_slipmap.SlipPolygon('Mission-%s' % filename, wp.polygon(), layer='Mission',
linewidth=2, colour=(255,255,255))
else:
mission_obj = None
fence = fen.polygon()
if len(fence) > 1:
fence_obj = mp_slipmap.SlipPolygon('Fence-%s' % filename, fen.polygon(), layer='Fence',
linewidth=2, colour=(0,255,0))
else:
fence_obj = None
if opts.imagefile:
create_imagefile(opts.imagefile, (lat,lon), ground_width, path_objs, mission_obj, fence_obj)
else:
global multi_map
if opts.multi and multi_map is not None:
map = multi_map
else:
map = mp_slipmap.MPSlipMap(title=filename,
service=opts.service,
elevation=True,
width=600,
height=600,
ground_width=ground_width,
lat=lat, lon=lon,
debug=opts.debug)
if opts.multi:
multi_map = map
for path_obj in path_objs:
map.add_object(path_obj)
if mission_obj is not None:
map.add_object(mission_obj)
if fence_obj is not None:
map.add_object(fence_obj)
for flag in opts.flag:
a = flag.split(',')
lat = a[0]
lon = a[1]
icon = 'flag.png'
if len(a) > 2:
icon = a[2] + '.png'
icon = map.icon(icon)
map.add_object(mp_slipmap.SlipIcon('icon - %s' % str(flag), (float(lat),float(lon)), icon, layer=3, rotation=0, follow=False))
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 = []
path2 = []
types = ['MISSION_ITEM']
if opts.rawgps:
types.extend(['GPS', 'GPS_RAW_INT'])
if opts.rawgps2:
types.extend(['GPS2_RAW', 'GPS2'])
if opts.dualgps:
types.extend(['GPS2_RAW', 'GPS2', 'GPS_RAW_INT', 'GPS'])
if len(types) == 1:
types.extend(['GPS', 'GLOBAL_POSITION_INT'])
while True:
m = mlog.recv_match(type=types)
if m is None:
break
if m.get_type() == 'MISSION_ITEM':
wp.set(m, m.seq)
continue
if not mlog.check_condition(opts.condition):
continue
if opts.mode is not None and mlog.flightmode.lower(
) != opts.mode.lower():
continue
if m.get_type() in ['GPS', 'GPS2']:
status = getattr(m, 'Status', None)
if status is None:
status = getattr(m, 'FixType', None)
if status is None:
print("Can't find status on GPS message")
print(m)
break
if status < 2:
continue
# flash log
lat = m.Lat
lng = getattr(m, 'Lng', None)
if lng is None:
lng = getattr(m, 'Lon', None)
if lng is None:
print("Can't find longitude on GPS message")
print(m)
break
else:
lat = m.lat * 1.0e-7
lng = m.lon * 1.0e-7
secondary = opts.dualgps and m.get_type() in ['GPS2_RAW', 'GPS2']
if lat != 0 or lng != 0:
if getattr(mlog, 'flightmode', '') in colourmap:
colour = colourmap[mlog.flightmode]
if secondary:
(r, g, b) = colour
(r, g, b) = (r + 50, g + 50, b + 50)
if r > 255:
r = 205
if g > 255:
g = 205
if b > 255:
b = 205
colour = (r, g, b)
point = (lat, lng, colour)
else:
point = (lat, lng)
if secondary:
path2.append(point)
else:
path.append(point)
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-%s' % filename,
path,
layer='FlightPath',
linewidth=2,
colour=(255, 0, 180))
if len(path2) != 0:
path2_obj = mp_slipmap.SlipPolygon('FlightPath2-%s' % filename,
path2,
layer='FlightPath',
linewidth=2,
colour=(255, 0, 180))
else:
path2_obj = None
mission = wp.polygon()
if len(mission) > 1:
mission_obj = mp_slipmap.SlipPolygon('Mission-%s' % filename,
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,
path2_obj=path2_obj)
else:
global multi_map
if opts.multi and multi_map is not None:
map = multi_map
else:
map = mp_slipmap.MPSlipMap(title=filename,
service=opts.service,
elevation=True,
width=600,
height=600,
ground_width=ground_width,
lat=lat,
lon=lon,
debug=opts.debug)
if opts.multi:
multi_map = map
map.add_object(path_obj)
if path2_obj is not None:
map.add_object(path2_obj)
if mission_obj is not None:
map.add_object(mission_obj)
for flag in opts.flag:
a = flag.split(',')
lat = a[0]
lon = a[1]
icon = 'flag.png'
if len(a) > 2:
icon = a[2] + '.png'
icon = map.icon(icon)
map.add_object(
mp_slipmap.SlipIcon('icon - %s' % str(flag),
(float(lat), float(lon)),
icon,
layer=3,
rotation=0,
follow=False))
def move(self, bearing, distance):
'''move position by bearing and distance'''
lat = self.pkt['I105']['Lat']['val']
lon = self.pkt['I105']['Lon']['val']
(lat, lon) = mp_util.gps_newpos(lat, lon, bearing, distance)
self.setpos(lat, lon)
def mavflightview_show(path, wp, fen, options, title=None):
if not title:
title='MAVFlightView'
bounds = mp_util.polygon_bounds(path[0])
(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_objs = []
for i in range(len(path)):
if len(path[i]) != 0:
path_objs.append(mp_slipmap.SlipPolygon('FlightPath[%u]-%s' % (i,title), path[i], layer='FlightPath',
linewidth=2, colour=(255,0,180)))
plist = wp.polygon_list()
mission_obj = None
if len(plist) > 0:
mission_obj = []
for i in range(len(plist)):
mission_obj.append(mp_slipmap.SlipPolygon('Mission-%s-%u' % (title,i), plist[i], layer='Mission',
linewidth=2, colour=(255,255,255)))
else:
mission_obj = None
fence = fen.polygon()
if len(fence) > 1:
fence_obj = mp_slipmap.SlipPolygon('Fence-%s' % title, fen.polygon(), layer='Fence',
linewidth=2, colour=(0,255,0))
else:
fence_obj = None
if options.imagefile:
create_imagefile(options, options.imagefile, (lat,lon), ground_width, path_objs, mission_obj, fence_obj)
else:
global multi_map
if options.multi and multi_map is not None:
map = multi_map
else:
map = mp_slipmap.MPSlipMap(title=title,
service=options.service,
elevation=True,
width=600,
height=600,
ground_width=ground_width,
lat=lat, lon=lon,
debug=options.debug)
if options.multi:
multi_map = map
for path_obj in path_objs:
map.add_object(path_obj)
if mission_obj is not None:
display_waypoints(wp, map)
if fence_obj is not None:
map.add_object(fence_obj)
for flag in options.flag:
a = flag.split(',')
lat = a[0]
lon = a[1]
icon = 'flag.png'
if len(a) > 2:
icon = a[2] + '.png'
icon = map.icon(icon)
map.add_object(mp_slipmap.SlipIcon('icon - %s' % str(flag), (float(lat),float(lon)), icon, layer=3, rotation=0, follow=False))
source = getattr(options, "colour_source", "flightmode")
if source != "flightmode":
print("colour-source: min=%f max=%f" % (colour_source_min, colour_source_max))
def mavlink_packet(m):
'''handle an incoming mavlink packet'''
state = mpstate.map_state
if m.get_type() == "HEARTBEAT":
from pymavlink import mavutil
if m.type in [mavutil.mavlink.MAV_TYPE_FIXED_WING]:
state.vehicle_type = 'plane'
elif m.type in [mavutil.mavlink.MAV_TYPE_GROUND_ROVER,
mavutil.mavlink.MAV_TYPE_SURFACE_BOAT,
mavutil.mavlink.MAV_TYPE_SUBMARINE]:
state.vehicle_type = 'rover'
elif m.type in [mavutil.mavlink.MAV_TYPE_QUADROTOR,
mavutil.mavlink.MAV_TYPE_COAXIAL,
mavutil.mavlink.MAV_TYPE_HEXAROTOR,
mavutil.mavlink.MAV_TYPE_OCTOROTOR,
mavutil.mavlink.MAV_TYPE_TRICOPTER,
mavutil.mavlink.MAV_TYPE_HELICOPTER]:
state.vehicle_type = 'copter'
if m.get_type() == "SIMSTATE" and state.settings.showsimpos:
create_vehicle_icon('SimVehicle', 'green')
mpstate.map.set_position('SimVehicle', (m.lat*1.0e-7, m.lng*1.0e-7), rotation=math.degrees(m.yaw))
if m.get_type() == "AHRS2" and state.settings.showahrs2pos:
create_vehicle_icon('AHRS2Vehicle', 'blue')
mpstate.map.set_position('AHRS2Vehicle', (m.lat*1.0e-7, m.lng*1.0e-7), rotation=math.degrees(m.yaw))
if m.get_type() == "GPS_RAW_INT" and state.settings.showgpspos:
(lat, lon) = (m.lat*1.0e-7, m.lon*1.0e-7)
if lat != 0 or lon != 0:
create_vehicle_icon('GPSVehicle', 'blue')
mpstate.map.set_position('GPSVehicle', (lat, lon), rotation=m.cog*0.01)
if m.get_type() == "GPS2_RAW" and state.settings.showgps2pos:
(lat, lon) = (m.lat*1.0e-7, m.lon*1.0e-7)
if lat != 0 or lon != 0:
create_vehicle_icon('GPS2Vehicle', 'green')
mpstate.map.set_position('GPS2Vehicle', (lat, lon), rotation=m.cog*0.01)
if m.get_type() == 'GLOBAL_POSITION_INT':
(state.lat, state.lon, state.heading) = (m.lat*1.0e-7, m.lon*1.0e-7, m.hdg*0.01)
if state.lat != 0 or state.lon != 0:
create_vehicle_icon('PosVehicle', 'red', follow=True)
mpstate.map.set_position('PosVehicle', (state.lat, state.lon), rotation=state.heading)
if m.get_type() == "NAV_CONTROLLER_OUTPUT":
if mpstate.master().flightmode in [ "AUTO", "GUIDED", "LOITER", "RTL" ]:
trajectory = [ (state.lat, state.lon),
mp_util.gps_newpos(state.lat, state.lon, m.target_bearing, m.wp_dist) ]
mpstate.map.add_object(mp_slipmap.SlipPolygon('trajectory', trajectory, layer='Trajectory',
linewidth=2, colour=(255,0,180)))
else:
mpstate.map.add_object(mp_slipmap.SlipClearLayer('Trajectory'))
# if the waypoints have changed, redisplay
if state.wp_change_time != mpstate.status.wploader.last_change:
state.wp_change_time = mpstate.status.wploader.last_change
display_waypoints()
# if the fence has changed, redisplay
if state.fence_change_time != mpstate.fence.fenceloader.last_change:
state.fence_change_time = mpstate.fence.fenceloader.last_change
points = mpstate.fence.fenceloader.polygon()
if len(points) > 1:
mpstate.map.add_object(mp_slipmap.SlipPolygon('fence', points, layer=1, linewidth=2, colour=(0,255,0)))
# if the rallypoints have changed, redisplay
if state.rally_change_time != mpstate.rally_state.rallyloader.last_change:
state.rally_change_time = mpstate.rally_state.rallyloader.last_change
icon = mpstate.map.icon('rallypoint.png')
mpstate.map.add_object(mp_slipmap.SlipClearLayer('RallyPoints'))
for i in range(mpstate.rally_state.rallyloader.rally_count()):
rp = mpstate.rally_state.rallyloader.rally_point(i)
mpstate.map.add_object(mp_slipmap.SlipIcon('Rally-%u' % i, (rp.lat*1.0e-7, rp.lng*1.0e-7), icon,
layer='RallyPoints', rotation=0, follow=False))
# check for any events from the map
mpstate.map.check_events()
def mavlink_packet(self, m):
'''handle an incoming mavlink packet'''
from MAVProxy.modules.mavproxy_map import mp_slipmap
if m.get_type() == "HEARTBEAT":
if m.type in [mavutil.mavlink.MAV_TYPE_FIXED_WING]:
self.vehicle_type_name = 'plane'
elif m.type in [mavutil.mavlink.MAV_TYPE_GROUND_ROVER,
mavutil.mavlink.MAV_TYPE_SURFACE_BOAT,
mavutil.mavlink.MAV_TYPE_SUBMARINE]:
self.vehicle_type_name = 'rover'
elif m.type in [mavutil.mavlink.MAV_TYPE_QUADROTOR,
mavutil.mavlink.MAV_TYPE_COAXIAL,
mavutil.mavlink.MAV_TYPE_HEXAROTOR,
mavutil.mavlink.MAV_TYPE_OCTOROTOR,
mavutil.mavlink.MAV_TYPE_TRICOPTER]:
self.vehicle_type_name = 'copter'
elif m.type in [mavutil.mavlink.MAV_TYPE_HELICOPTER]:
self.vehicle_type_name = 'heli'
elif m.type in [mavutil.mavlink.MAV_TYPE_ANTENNA_TRACKER]:
self.vehicle_type_name = 'antenna'
# this is the beginnings of allowing support for multiple vehicles
# in the air at the same time
vehicle = 'Vehicle%u' % m.get_srcSystem()
if m.get_type() == "SIMSTATE" and self.map_settings.showsimpos:
self.create_vehicle_icon('Sim' + vehicle, 'green')
self.mpstate.map.set_position('Sim' + vehicle, (m.lat*1.0e-7, m.lng*1.0e-7), rotation=math.degrees(m.yaw))
if m.get_type() == "AHRS2" and self.map_settings.showahrs2pos:
self.create_vehicle_icon('AHRS2' + vehicle, 'blue')
self.mpstate.map.set_position('AHRS2' + vehicle, (m.lat*1.0e-7, m.lng*1.0e-7), rotation=math.degrees(m.yaw))
if m.get_type() == "AHRS3" and self.map_settings.showahrs3pos:
self.create_vehicle_icon('AHRS3' + vehicle, 'orange')
self.mpstate.map.set_position('AHRS3' + vehicle, (m.lat*1.0e-7, m.lng*1.0e-7), rotation=math.degrees(m.yaw))
if m.get_type() == "GPS_RAW_INT" and self.map_settings.showgpspos:
(lat, lon) = (m.lat*1.0e-7, m.lon*1.0e-7)
if lat != 0 or lon != 0:
self.create_vehicle_icon('GPS' + vehicle, 'blue')
self.mpstate.map.set_position('GPS' + vehicle, (lat, lon), rotation=m.cog*0.01)
if m.get_type() == "GPS2_RAW" and self.map_settings.showgps2pos:
(lat, lon) = (m.lat*1.0e-7, m.lon*1.0e-7)
if lat != 0 or lon != 0:
self.create_vehicle_icon('GPS2' + vehicle, 'green')
self.mpstate.map.set_position('GPS2' + vehicle, (lat, lon), rotation=m.cog*0.01)
if m.get_type() == 'GLOBAL_POSITION_INT':
(self.lat, self.lon, self.heading) = (m.lat*1.0e-7, m.lon*1.0e-7, m.hdg*0.01)
if abs(self.lat) > 1.0e-3 or abs(self.lon) > 1.0e-3:
self.have_global_position = True
self.create_vehicle_icon('Pos' + vehicle, 'red', follow=True)
self.mpstate.map.set_position('Pos' + vehicle, (self.lat, self.lon), rotation=self.heading)
if m.get_type() == 'LOCAL_POSITION_NED' and not self.have_global_position:
(self.lat, self.lon) = mp_util.gps_offset(0, 0, m.x, m.y)
self.heading = math.degrees(math.atan2(m.vy, m.vx))
self.create_vehicle_icon('Pos' + vehicle, 'red', follow=True)
self.mpstate.map.set_position('Pos' + vehicle, (self.lat, self.lon), rotation=self.heading)
if m.get_type() == "NAV_CONTROLLER_OUTPUT":
if (self.master.flightmode in [ "AUTO", "GUIDED", "LOITER", "RTL" ] and
self.lat is not None and self.lon is not None):
trajectory = [ (self.lat, self.lon),
mp_util.gps_newpos(self.lat, self.lon, m.target_bearing, m.wp_dist) ]
self.mpstate.map.add_object(mp_slipmap.SlipPolygon('trajectory', trajectory, layer='Trajectory',
linewidth=2, colour=(255,0,180)))
else:
self.mpstate.map.add_object(mp_slipmap.SlipClearLayer('Trajectory'))
# if the waypoints have changed, redisplay
last_wp_change = self.module('wp').wploader.last_change
if self.wp_change_time != last_wp_change and abs(time.time() - last_wp_change) > 1:
self.wp_change_time = last_wp_change
self.display_waypoints()
#this may have affected the landing lines from the rally points:
self.rally_change_time = time.time()
# if the fence has changed, redisplay
if self.fence_change_time != self.module('fence').fenceloader.last_change:
self.display_fence()
# if the rallypoints have changed, redisplay
if self.rally_change_time != self.module('rally').rallyloader.last_change:
self.rally_change_time = self.module('rally').rallyloader.last_change
icon = self.mpstate.map.icon('rallypoint.png')
self.mpstate.map.add_object(mp_slipmap.SlipClearLayer('RallyPoints'))
for i in range(self.module('rally').rallyloader.rally_count()):
rp = self.module('rally').rallyloader.rally_point(i)
popup = MPMenuSubMenu('Popup',
items=[MPMenuItem('Rally Remove', returnkey='popupRallyRemove'),
MPMenuItem('Rally Move', returnkey='popupRallyMove')])
self.mpstate.map.add_object(mp_slipmap.SlipIcon('Rally %u' % (i+1), (rp.lat*1.0e-7, rp.lng*1.0e-7), icon,
layer='RallyPoints', rotation=0, follow=False,
popup_menu=popup))
loiter_rad = self.get_mav_param('WP_LOITER_RAD')
if self.map_settings.rallycircle:
self.mpstate.map.add_object(mp_slipmap.SlipCircle('Rally Circ %u' % (i+1), 'RallyPoints', (rp.lat*1.0e-7, rp.lng*1.0e-7), abs(loiter_rad), (255,255,0), 2))
#draw a line between rally point and nearest landing point
nearest_land_wp = None
nearest_distance = 10000000.0
for j in range(self.module('wp').wploader.count()):
w = self.module('wp').wploader.wp(j)
if (w.command == 21): #if landing waypoint
#get distance between rally point and this waypoint
dis = mp_util.gps_distance(w.x, w.y, rp.lat*1.0e-7, rp.lng*1.0e-7)
if (dis < nearest_distance):
nearest_land_wp = w
nearest_distance = dis
if nearest_land_wp != None:
points = []
#tangential approach?
if self.get_mav_param('LAND_BREAK_PATH') == 0:
theta = math.degrees(math.atan(loiter_rad / nearest_distance))
tan_dis = math.sqrt(nearest_distance * nearest_distance - (loiter_rad * loiter_rad))
ral_bearing = mp_util.gps_bearing(nearest_land_wp.x, nearest_land_wp.y,rp.lat*1.0e-7, rp.lng*1.0e-7)
points.append(mp_util.gps_newpos(nearest_land_wp.x,nearest_land_wp.y, ral_bearing + theta, tan_dis))
else: #not tangential approach
points.append((rp.lat*1.0e-7, rp.lng*1.0e-7))
points.append((nearest_land_wp.x, nearest_land_wp.y))
self.mpstate.map.add_object(mp_slipmap.SlipPolygon('Rally Land %u' % (i+1), points, 'RallyPoints', (255,255,0), 2))
# check for any events from the map
self.mpstate.map.check_events()
wp = mavwp.MAVWPLoader()
wp.load(file)
boundary = wp.polygon()
sm.add_object(SlipPolygon('mission-%s' % file, boundary, layer=1, linewidth=1, colour=(255,255,255)))
if opts.grid:
sm.add_object(SlipGrid('grid', layer=3, linewidth=1, colour=(255,255,0)))
if opts.thumbnail:
thumb = cv.LoadImage(opts.thumbnail)
sm.add_object(SlipThumbnail('thumb', (opts.lat,opts.lon), layer=1, img=thumb, border_width=2, border_colour=(255,0,0)))
if opts.icon:
icon = cv.LoadImage(opts.icon)
sm.add_object(SlipIcon('icon', (opts.lat,opts.lon), icon, layer=3, rotation=90, follow=True))
sm.set_position('icon', mp_util.gps_newpos(opts.lat,opts.lon, 180, 100), rotation=45)
sm.add_object(SlipInfoImage('detail', icon))
sm.add_object(SlipInfoText('detail text', 'test text'))
for flag in opts.flag:
(lat,lon) = flag.split(',')
icon = sm.icon('flag.png')
sm.add_object(SlipIcon('icon - %s' % str(flag), (float(lat),float(lon)), icon, layer=3, rotation=0, follow=False))
while sm.is_alive():
while sm.event_count() > 0:
obj = sm.get_event()
if not opts.verbose:
continue
if isinstance(obj, SlipMouseEvent):
print("Mouse event at %s (X/Y=%u/%u) for %u objects" % (obj.latlon,
def mavlink_packet(self, m):
'''handle an incoming mavlink packet'''
from MAVProxy.modules.mavproxy_map import mp_slipmap
mtype = m.get_type()
sysid = m.get_srcSystem()
if mtype == "HEARTBEAT":
vname = 'plane'
if m.type in [mavutil.mavlink.MAV_TYPE_FIXED_WING]:
vname = 'plane'
elif m.type in [mavutil.mavlink.MAV_TYPE_GROUND_ROVER]:
vname = 'rover'
elif m.type in [mavutil.mavlink.MAV_TYPE_SUBMARINE]:
vname = 'sub'
elif m.type in [mavutil.mavlink.MAV_TYPE_SURFACE_BOAT]:
vname = 'boat'
elif m.type in [
mavutil.mavlink.MAV_TYPE_QUADROTOR,
mavutil.mavlink.MAV_TYPE_HEXAROTOR,
mavutil.mavlink.MAV_TYPE_OCTOROTOR,
mavutil.mavlink.MAV_TYPE_TRICOPTER
]:
vname = 'copter'
elif m.type in [mavutil.mavlink.MAV_TYPE_COAXIAL]:
vname = 'singlecopter'
elif m.type in [mavutil.mavlink.MAV_TYPE_HELICOPTER]:
vname = 'heli'
elif m.type in [mavutil.mavlink.MAV_TYPE_ANTENNA_TRACKER]:
vname = 'antenna'
self.vehicle_type_by_sysid[sysid] = vname
if not sysid in self.vehicle_type_by_sysid:
self.vehicle_type_by_sysid[sysid] = 'plane'
self.vehicle_type_name = self.vehicle_type_by_sysid[sysid]
# this is the beginnings of allowing support for multiple vehicles
# in the air at the same time
vehicle = 'Vehicle%u' % m.get_srcSystem()
if mtype == "SIMSTATE" and self.map_settings.showsimpos:
self.create_vehicle_icon('Sim' + vehicle, 'green')
self.map.set_position('Sim' + vehicle,
(m.lat * 1.0e-7, m.lng * 1.0e-7),
rotation=math.degrees(m.yaw))
elif mtype == "AHRS2" and self.map_settings.showahrs2pos:
self.create_vehicle_icon('AHRS2' + vehicle, 'blue')
self.map.set_position('AHRS2' + vehicle,
(m.lat * 1.0e-7, m.lng * 1.0e-7),
rotation=math.degrees(m.yaw))
elif mtype == "AHRS3" and self.map_settings.showahrs3pos:
self.create_vehicle_icon('AHRS3' + vehicle, 'orange')
self.map.set_position('AHRS3' + vehicle,
(m.lat * 1.0e-7, m.lng * 1.0e-7),
rotation=math.degrees(m.yaw))
elif mtype == "GPS_RAW_INT" and self.map_settings.showgpspos:
(lat, lon) = (m.lat * 1.0e-7, m.lon * 1.0e-7)
if lat != 0 or lon != 0:
if m.vel > 300 or 'ATTITUDE' not in self.master.messages:
cog = m.cog * 0.01
else:
cog = math.degrees(self.master.messages['ATTITUDE'].yaw)
self.create_vehicle_icon('GPS' + vehicle, 'blue')
self.map.set_position('GPS' + vehicle, (lat, lon),
rotation=cog)
elif mtype == "GPS2_RAW" and self.map_settings.showgps2pos:
(lat, lon) = (m.lat * 1.0e-7, m.lon * 1.0e-7)
if lat != 0 or lon != 0:
self.create_vehicle_icon('GPS2' + vehicle, 'green')
self.map.set_position('GPS2' + vehicle, (lat, lon),
rotation=m.cog * 0.01)
elif mtype == 'GLOBAL_POSITION_INT' and self.map_settings.showahrspos:
(lat, lon, heading) = (m.lat * 1.0e-7, m.lon * 1.0e-7,
m.hdg * 0.01)
self.lat_lon[m.get_srcSystem()] = (lat, lon)
if abs(lat) > 1.0e-3 or abs(lon) > 1.0e-3:
self.have_global_position = True
self.create_vehicle_icon('Pos' + vehicle, 'red', follow=True)
if len(self.vehicle_type_by_sysid) > 1:
label = str(sysid)
else:
label = None
self.map.set_position('Pos' + vehicle, (lat, lon),
rotation=heading,
label=label,
colour=(255, 255, 255))
self.map.set_follow_object('Pos' + vehicle,
self.is_primary_vehicle(m))
elif mtype == 'HOME_POSITION':
(lat, lon) = (m.latitude * 1.0e-7, m.longitude * 1.0e-7)
icon = self.map.icon('home.png')
self.map.add_object(
mp_slipmap.SlipIcon('HOME_POSITION', (lat, lon),
icon,
layer=3,
rotation=0,
follow=False))
elif mtype == "NAV_CONTROLLER_OUTPUT":
tlayer = 'Trajectory%u' % m.get_srcSystem()
if (self.master.flightmode in [
"AUTO", "GUIDED", "LOITER", "RTL", "QRTL", "QLOITER",
"QLAND", "FOLLOW"
] and m.get_srcSystem() in self.lat_lon):
(lat, lon) = self.lat_lon[m.get_srcSystem()]
trajectory = [(lat, lon),
mp_util.gps_newpos(lat, lon, m.target_bearing,
m.wp_dist)]
self.map.add_object(
mp_slipmap.SlipPolygon('trajectory',
trajectory,
layer=tlayer,
linewidth=2,
colour=(255, 0, 180)))
self.trajectory_layers.add(tlayer)
else:
if tlayer in self.trajectory_layers:
self.map.add_object(mp_slipmap.SlipClearLayer(tlayer))
self.trajectory_layers.remove(tlayer)
elif mtype == "POSITION_TARGET_GLOBAL_INT":
# FIXME: base this off SYS_STATUS.MAV_SYS_STATUS_SENSOR_XY_POSITION_CONTROL?
if not m.get_srcSystem() in self.lat_lon:
return
tlayer = 'PostionTarget%u' % m.get_srcSystem()
(lat, lon) = self.lat_lon[m.get_srcSystem()]
if (self.master.flightmode in [
"AUTO", "GUIDED", "LOITER", "RTL", "QRTL", "QLOITER",
"QLAND", "FOLLOW"
]):
lat_float = m.lat_int * 1e-7
lon_float = m.lon_int * 1e-7
vec = [(lat_float, lon_float), (lat, lon)]
self.map.add_object(
mp_slipmap.SlipPolygon('position_target',
vec,
layer=tlayer,
linewidth=2,
colour=(0, 255, 0)))
else:
self.map.add_object(mp_slipmap.SlipClearLayer(tlayer))
if not self.is_primary_vehicle(m):
# the rest should only be done for the primary vehicle
return
# if the waypoints have changed, redisplay
last_wp_change = self.module('wp').wploader.last_change
if self.wp_change_time != last_wp_change and abs(time.time() -
last_wp_change) > 1:
self.wp_change_time = last_wp_change
self.display_waypoints()
#this may have affected the landing lines from the rally points:
self.rally_change_time = time.time()
# if the fence has changed, redisplay
if (self.module('fence') and self.fence_change_time !=
self.module('fence').fenceloader.last_change):
self.display_fence()
# if the rallypoints have changed, redisplay
if (self.module('rally') and
self.rally_change_time != self.module('rally').last_change()):
self.rally_change_time = self.module('rally').last_change()
icon = self.map.icon('rallypoint.png')
self.map.add_object(mp_slipmap.SlipClearLayer('RallyPoints'))
for i in range(self.module('rally').rally_count()):
rp = self.module('rally').rally_point(i)
popup = MPMenuSubMenu(
'Popup',
items=[
MPMenuItem('Rally Remove',
returnkey='popupRallyRemove'),
MPMenuItem('Rally Move', returnkey='popupRallyMove')
])
self.map.add_object(
mp_slipmap.SlipIcon('Rally %u' % (i + 1),
(rp.lat * 1.0e-7, rp.lng * 1.0e-7),
icon,
layer='RallyPoints',
rotation=0,
follow=False,
popup_menu=popup))
loiter_rad = self.get_mav_param('WP_LOITER_RAD')
if self.map_settings.rallycircle:
self.map.add_object(
mp_slipmap.SlipCircle(
'Rally Circ %u' % (i + 1),
'RallyPoints', (rp.lat * 1.0e-7, rp.lng * 1.0e-7),
loiter_rad, (255, 255, 0),
2,
arrow=self.map_settings.showdirection))
#draw a line between rally point and nearest landing point
nearest_land_wp = None
nearest_distance = 10000000.0
for j in range(self.module('wp').wploader.count()):
w = self.module('wp').wploader.wp(j)
if (w.command == 21): #if landing waypoint
#get distance between rally point and this waypoint
dis = mp_util.gps_distance(w.x, w.y, rp.lat * 1.0e-7,
rp.lng * 1.0e-7)
if (dis < nearest_distance):
nearest_land_wp = w
nearest_distance = dis
if nearest_land_wp is not None:
points = []
#tangential approach?
if self.get_mav_param('LAND_BREAK_PATH') == 0:
theta = math.degrees(
math.atan(loiter_rad / nearest_distance))
tan_dis = math.sqrt(nearest_distance *
nearest_distance -
(loiter_rad * loiter_rad))
ral_bearing = mp_util.gps_bearing(
nearest_land_wp.x, nearest_land_wp.y,
rp.lat * 1.0e-7, rp.lng * 1.0e-7)
points.append(
mp_util.gps_newpos(nearest_land_wp.x,
nearest_land_wp.y,
ral_bearing + theta, tan_dis))
else: #not tangential approach
points.append((rp.lat * 1.0e-7, rp.lng * 1.0e-7))
points.append((nearest_land_wp.x, nearest_land_wp.y))
self.map.add_object(
mp_slipmap.SlipPolygon('Rally Land %u' % (i + 1),
points, 'RallyPoints',
(255, 255, 0), 2))
# check for any events from the map
self.map.check_events()
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)
fen = mavwp.MAVFenceLoader()
if opts.fence is not None:
fen.load(opts.fence)
path = [[]]
types = ['MISSION_ITEM', 'CMD']
if opts.rawgps:
types.extend(['GPS', 'GPS_RAW_INT'])
if opts.rawgps2:
types.extend(['GPS2_RAW', 'GPS2'])
if opts.dualgps:
types.extend(['GPS2_RAW', 'GPS2', 'GPS_RAW_INT', 'GPS'])
if opts.ekf:
types.extend(['EKF1', 'GPS'])
if opts.ahr2:
types.extend(['AHR2', 'GPS'])
if len(types) == 2:
types.extend(['GPS', 'GLOBAL_POSITION_INT'])
print("Looking for types %s" % str(types))
while True:
try:
m = mlog.recv_match(type=types)
if m is None:
break
except Exception:
break
if m.get_type() == 'MISSION_ITEM':
try:
while m.seq > wp.count():
print("Adding dummy WP %u" % wp.count())
wp.set(m, wp.count())
wp.set(m, m.seq)
except Exception:
pass
continue
if m.get_type() == 'CMD':
m = mavutil.mavlink.MAVLink_mission_item_message(
0, 0, m.CNum, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT,
m.CId, 0, 1, m.Prm1, m.Prm2, m.Prm3, m.Prm4, m.Lat, m.Lng,
m.Alt)
try:
while m.seq > wp.count():
print("Adding dummy WP %u" % wp.count())
wp.set(m, wp.count())
wp.set(m, m.seq)
except Exception:
pass
continue
if not mlog.check_condition(opts.condition):
continue
if opts.mode is not None and mlog.flightmode.lower(
) != opts.mode.lower():
continue
if m.get_type() in ['GPS', 'GPS2']:
status = getattr(m, 'Status', None)
if status is None:
status = getattr(m, 'FixType', None)
if status is None:
print("Can't find status on GPS message")
print(m)
break
if status < 2:
continue
# flash log
lat = m.Lat
lng = getattr(m, 'Lng', None)
if lng is None:
lng = getattr(m, 'Lon', None)
if lng is None:
print("Can't find longitude on GPS message")
print(m)
break
elif m.get_type() == 'EKF1':
pos = mavextra.ekf1_pos(m)
if pos is None:
continue
(lat, lng) = pos
elif m.get_type() == 'AHR2':
(lat, lng) = (m.Lat, m.Lng)
else:
lat = m.lat * 1.0e-7
lng = m.lon * 1.0e-7
instance = 0
if opts.dualgps and m.get_type() in ['GPS2_RAW', 'GPS2']:
instance = 1
if m.get_type() == 'EKF1':
if opts.dualgps:
instance = 2
else:
instance = 1
if m.get_type() == 'AHR2':
if opts.dualgps:
instance = 2
else:
instance = 1
if abs(lat) > 0.01 or abs(lng) > 0.01:
if getattr(mlog, 'flightmode', '') in colourmap:
colour = colourmap[mlog.flightmode]
(r, g, b) = colour
(r, g, b) = (r + instance * 50, g + instance * 50,
b + instance * 50)
if r > 255:
r = 205
if g > 255:
g = 205
if b > 255:
b = 205
colour = (r, g, b)
point = (lat, lng, colour)
else:
point = (lat, lng)
while instance >= len(path):
path.append([])
path[instance].append(point)
if len(path[0]) == 0:
print("No points to plot")
return
bounds = mp_util.polygon_bounds(path[0])
(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_objs = []
for i in range(len(path)):
if len(path[i]) != 0:
path_objs.append(
mp_slipmap.SlipPolygon('FlightPath[%u]-%s' % (i, filename),
path[i],
layer='FlightPath',
linewidth=2,
colour=(255, 0, 180)))
plist = wp.polygon_list()
mission_obj = None
if len(plist) > 0:
mission_obj = []
for i in range(len(plist)):
mission_obj.append(
mp_slipmap.SlipPolygon('Mission-%s-%u' % (filename, i),
plist[i],
layer='Mission',
linewidth=2,
colour=(255, 255, 255)))
else:
mission_obj = None
fence = fen.polygon()
if len(fence) > 1:
fence_obj = mp_slipmap.SlipPolygon('Fence-%s' % filename,
fen.polygon(),
layer='Fence',
linewidth=2,
colour=(0, 255, 0))
else:
fence_obj = None
if opts.imagefile:
create_imagefile(opts.imagefile, (lat, lon), ground_width, path_objs,
mission_obj, fence_obj)
else:
global multi_map
if opts.multi and multi_map is not None:
map = multi_map
else:
map = mp_slipmap.MPSlipMap(title=filename,
service=opts.service,
elevation=True,
width=600,
height=600,
ground_width=ground_width,
lat=lat,
lon=lon,
debug=opts.debug)
if opts.multi:
multi_map = map
for path_obj in path_objs:
map.add_object(path_obj)
if mission_obj is not None:
display_waypoints(wp, map)
if fence_obj is not None:
map.add_object(fence_obj)
for flag in opts.flag:
a = flag.split(',')
lat = a[0]
lon = a[1]
icon = 'flag.png'
if len(a) > 2:
icon = a[2] + '.png'
icon = map.icon(icon)
map.add_object(
mp_slipmap.SlipIcon('icon - %s' % str(flag),
(float(lat), float(lon)),
icon,
layer=3,
rotation=0,
follow=False))
def cmd_wp_movemulti(self, args):
'''handle wp move of multiple waypoints'''
if len(args) < 4:
print(
"usage: wp movemulti WPNUM WPSTART WPEND <rotation> <newLocation>"
)
return
idx = int(args[0])
if idx < 1 or idx > self.wploader.count():
print("Invalid wp number %u" % idx)
return
wpstart = int(args[1])
if wpstart < 1 or wpstart > self.wploader.count():
print("Invalid wp number %u" % wpstart)
return
wpend = int(args[2])
if wpend < 1 or wpend > self.wploader.count():
print("Invalid wp number %u" % wpend)
return
if idx < wpstart or idx > wpend:
print("WPNUM must be between WPSTART and WPEND")
return
# optional rotation about center point
if len(args) > 3:
rotation = float(args[3])
else:
rotation = 0
# optional --> Override mouse click and use a waypoint for the move location instead
if len(args) > 4:
wpmove = int(args[4])
if wpmove < 0 or wpmove > self.wploader.count():
print("Invalid wp number %u" % wpmove)
return
wp = self.wploader.wp(wpmove)
latlon = (wp.x, wp.y)
else:
try:
latlon = self.module('map').click_position
except Exception:
print("No map available")
return
if latlon is None:
print("No map click position available")
return
wp = self.wploader.wp(idx)
if not self.wploader.is_location_command(wp.command):
print("WP must be a location command")
return
(lat, lon) = latlon
distance = mp_util.gps_distance(wp.x, wp.y, lat, lon)
bearing = mp_util.gps_bearing(wp.x, wp.y, lat, lon)
for wpnum in range(wpstart, wpend + 1):
wp = self.wploader.wp(wpnum)
if not self.wploader.is_location_command(wp.command):
continue
(newlat, newlon) = mp_util.gps_newpos(wp.x, wp.y, bearing,
distance)
if wpnum != idx and rotation != 0:
# add in rotation
d2 = mp_util.gps_distance(lat, lon, newlat, newlon)
b2 = mp_util.gps_bearing(lat, lon, newlat, newlon)
(newlat, newlon) = mp_util.gps_newpos(lat, lon, b2 + rotation,
d2)
if getattr(
self.console, 'ElevationMap', None
) is not None and wp.frame != mavutil.mavlink.MAV_FRAME_GLOBAL_TERRAIN_ALT:
alt1 = self.console.ElevationMap.GetElevation(newlat, newlon)
alt2 = self.console.ElevationMap.GetElevation(wp.x, wp.y)
if alt1 is not None and alt2 is not None:
wp.z += alt1 - alt2
wp.x = newlat
wp.y = newlon
wp.target_system = self.target_system
wp.target_component = self.target_component
self.wploader.set(wp, wpnum)
self.loading_waypoints = True
self.loading_waypoint_lasttime = time.time()
self.master.mav.mission_write_partial_list_send(
self.target_system, self.target_component, wpstart, wpend + 1)
print("Moved WPs %u:%u to %f, %f rotation=%.1f" %
(wpstart, wpend, lat, lon, rotation))
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)
for flag in opts.flag:
a = flag.split(',')
lat = a[0]
lon = a[1]
icon = 'flag.png'
if len(a) > 2:
icon = a[2] + '.png'
icon = map.icon(icon)
map.add_object(
mp_slipmap.SlipIcon('icon - %s' % str(flag),
(float(lat), float(lon)),
icon,
layer=3,
rotation=0,
follow=False))
def mavlink_packet(self, m):
'''handle an incoming mavlink packet'''
if m.get_type() == "HEARTBEAT":
from pymavlink import mavutil
if m.type in [mavutil.mavlink.MAV_TYPE_FIXED_WING]:
self.vehicle_type_name = 'plane'
elif m.type in [
mavutil.mavlink.MAV_TYPE_GROUND_ROVER,
mavutil.mavlink.MAV_TYPE_SURFACE_BOAT,
mavutil.mavlink.MAV_TYPE_SUBMARINE
]:
self.vehicle_type_name = 'rover'
elif m.type in [
mavutil.mavlink.MAV_TYPE_QUADROTOR,
mavutil.mavlink.MAV_TYPE_COAXIAL,
mavutil.mavlink.MAV_TYPE_HEXAROTOR,
mavutil.mavlink.MAV_TYPE_OCTOROTOR,
mavutil.mavlink.MAV_TYPE_TRICOPTER,
mavutil.mavlink.MAV_TYPE_HELICOPTER
]:
self.vehicle_type_name = 'copter'
elif m.type in [mavutil.mavlink.MAV_TYPE_ANTENNA_TRACKER]:
self.vehicle_type_name = 'antenna'
# this is the beginnings of allowing support for multiple vehicles
# in the air at the same time
vehicle = 'Vehicle%u' % m.get_srcSystem()
if m.get_type() == "SIMSTATE" and self.map_settings.showsimpos:
self.create_vehicle_icon('Sim' + vehicle, 'green')
self.mpstate.map.set_position('Sim' + vehicle,
(m.lat * 1.0e-7, m.lng * 1.0e-7),
rotation=math.degrees(m.yaw))
if m.get_type() == "AHRS2" and self.map_settings.showahrs2pos:
self.create_vehicle_icon('AHRS2' + vehicle, 'blue')
self.mpstate.map.set_position('AHRS2' + vehicle,
(m.lat * 1.0e-7, m.lng * 1.0e-7),
rotation=math.degrees(m.yaw))
if m.get_type() == "GPS_RAW_INT" and self.map_settings.showgpspos:
(lat, lon) = (m.lat * 1.0e-7, m.lon * 1.0e-7)
if lat != 0 or lon != 0:
self.create_vehicle_icon('GPS' + vehicle, 'blue')
self.mpstate.map.set_position('GPS' + vehicle, (lat, lon),
rotation=m.cog * 0.01)
if m.get_type() == "GPS2_RAW" and self.map_settings.showgps2pos:
(lat, lon) = (m.lat * 1.0e-7, m.lon * 1.0e-7)
if lat != 0 or lon != 0:
self.create_vehicle_icon('GPS2' + vehicle, 'green')
self.mpstate.map.set_position('GPS2' + vehicle, (lat, lon),
rotation=m.cog * 0.01)
if m.get_type() == 'GLOBAL_POSITION_INT':
(self.lat, self.lon, self.heading) = (m.lat * 1.0e-7,
m.lon * 1.0e-7, m.hdg * 0.01)
if self.lat != 0 or self.lon != 0:
self.create_vehicle_icon('Pos' + vehicle, 'red', follow=True)
self.mpstate.map.set_position('Pos' + vehicle,
(self.lat, self.lon),
rotation=self.heading)
if m.get_type() == "NAV_CONTROLLER_OUTPUT":
if self.master.flightmode in ["AUTO", "GUIDED", "LOITER", "RTL"]:
trajectory = [(self.lat, self.lon),
mp_util.gps_newpos(self.lat, self.lon,
m.target_bearing, m.wp_dist)]
self.mpstate.map.add_object(
mp_slipmap.SlipPolygon('trajectory',
trajectory,
layer='Trajectory',
linewidth=2,
colour=(255, 0, 180)))
else:
self.mpstate.map.add_object(
mp_slipmap.SlipClearLayer('Trajectory'))
# if the waypoints have changed, redisplay
if self.wp_change_time != self.module('wp').wploader.last_change:
self.wp_change_time = self.module('wp').wploader.last_change
self.display_waypoints()
# if the fence has changed, redisplay
if self.fence_change_time != self.module(
'fence').fenceloader.last_change:
self.display_fence()
# if the rallypoints have changed, redisplay
if self.rally_change_time != self.module(
'rally').rallyloader.last_change:
self.rally_change_time = self.module(
'rally').rallyloader.last_change
icon = self.mpstate.map.icon('rallypoint.png')
self.mpstate.map.add_object(
mp_slipmap.SlipClearLayer('RallyPoints'))
for i in range(self.module('rally').rallyloader.rally_count()):
rp = self.module('rally').rallyloader.rally_point(i)
popup = MPMenuSubMenu(
'Popup',
items=[
MPMenuItem('Rally Remove',
returnkey='popupRallyRemove'),
MPMenuItem('Rally Move', returnkey='popupRallyMove')
])
self.mpstate.map.add_object(
mp_slipmap.SlipIcon('Rally %u' % (i + 1),
(rp.lat * 1.0e-7, rp.lng * 1.0e-7),
icon,
layer='RallyPoints',
rotation=0,
follow=False,
popup_menu=popup))
# check for any events from the map
self.mpstate.map.check_events()
def mavflightview_show(path, wp, fen, options, title=None):
if not title:
title='MAVFlightView'
bounds = mp_util.polygon_bounds(path[0])
(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_objs = []
for i in range(len(path)):
if len(path[i]) != 0:
path_objs.append(mp_slipmap.SlipPolygon('FlightPath[%u]-%s' % (i,title), path[i], layer='FlightPath',
linewidth=2, colour=(255,0,180)))
plist = wp.polygon_list()
mission_obj = None
if len(plist) > 0:
mission_obj = []
for i in range(len(plist)):
mission_obj.append(mp_slipmap.SlipPolygon('Mission-%s-%u' % (title,i), plist[i], layer='Mission',
linewidth=2, colour=(255,255,255)))
else:
mission_obj = None
fence = fen.polygon()
if len(fence) > 1:
fence_obj = mp_slipmap.SlipPolygon('Fence-%s' % title, fen.polygon(), layer='Fence',
linewidth=2, colour=(0,255,0))
else:
fence_obj = None
if options.imagefile:
create_imagefile(options, options.imagefile, (lat,lon), ground_width, path_objs, mission_obj, fence_obj)
else:
global multi_map
if options.multi and multi_map is not None:
map = multi_map
else:
map = mp_slipmap.MPSlipMap(title=title,
service=options.service,
elevation=True,
width=600,
height=600,
ground_width=ground_width,
lat=lat, lon=lon,
debug=options.debug)
if options.multi:
multi_map = map
for path_obj in path_objs:
map.add_object(path_obj)
if mission_obj is not None:
display_waypoints(wp, map)
if fence_obj is not None:
map.add_object(fence_obj)
for flag in options.flag:
a = flag.split(',')
lat = a[0]
lon = a[1]
icon = 'flag.png'
if len(a) > 2:
icon = a[2] + '.png'
icon = map.icon(icon)
map.add_object(mp_slipmap.SlipIcon('icon - %s' % str(flag), (float(lat),float(lon)), icon, layer=3, rotation=0, follow=False))
source = getattr(options, "colour_source", "flightmode")
if source != "flightmode":
print("colour-source: min=%f max=%f" % (colour_source_min, colour_source_max))
def mavflightview_mav(mlog, options=None, title=None):
'''create a map for a log file'''
if not title:
title = 'MAVFlightView'
wp = mavwp.MAVWPLoader()
if options.mission is not None:
wp.load(options.mission)
fen = mavwp.MAVFenceLoader()
if options.fence is not None:
fen.load(options.fence)
path = [[]]
instances = {}
ekf_counter = 0
nkf_counter = 0
types = ['MISSION_ITEM', 'CMD']
if options.types is not None:
types.extend(options.types.split(','))
else:
types.extend(['GPS', 'GLOBAL_POSITION_INT'])
if options.rawgps or options.dualgps:
types.extend(['GPS', 'GPS_RAW_INT'])
if options.rawgps2 or options.dualgps:
types.extend(['GPS2_RAW', 'GPS2'])
if options.ekf:
types.extend(['EKF1', 'GPS'])
if options.nkf:
types.extend(['NKF1', 'GPS'])
if options.ahr2:
types.extend(['AHR2', 'AHRS2', 'GPS'])
print("Looking for types %s" % str(types))
last_timestamps = {}
while True:
try:
m = mlog.recv_match(type=types)
if m is None:
break
except Exception:
break
type = m.get_type()
if type == 'MISSION_ITEM':
try:
while m.seq > wp.count():
print("Adding dummy WP %u" % wp.count())
wp.set(m, wp.count())
wp.set(m, m.seq)
except Exception:
pass
continue
if type == 'CMD':
m = mavutil.mavlink.MAVLink_mission_item_message(
0, 0, m.CNum, mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT,
m.CId, 0, 1, m.Prm1, m.Prm2, m.Prm3, m.Prm4, m.Lat, m.Lng,
m.Alt)
try:
while m.seq > wp.count():
print("Adding dummy WP %u" % wp.count())
wp.set(m, wp.count())
wp.set(m, m.seq)
except Exception:
pass
continue
if not mlog.check_condition(options.condition):
continue
if options.mode is not None and mlog.flightmode.lower(
) != options.mode.lower():
continue
if type in ['GPS', 'GPS2']:
status = getattr(m, 'Status', None)
if status is None:
status = getattr(m, 'FixType', None)
if status is None:
print("Can't find status on GPS message")
print(m)
break
if status < 2:
continue
# flash log
lat = m.Lat
lng = getattr(m, 'Lng', None)
if lng is None:
lng = getattr(m, 'Lon', None)
if lng is None:
print("Can't find longitude on GPS message")
print(m)
break
elif type in ['EKF1', 'ANU1']:
pos = mavextra.ekf1_pos(m)
if pos is None:
continue
ekf_counter += 1
if ekf_counter % options.ekf_sample != 0:
continue
(lat, lng) = pos
elif type in ['NKF1']:
pos = mavextra.ekf1_pos(m)
if pos is None:
continue
nkf_counter += 1
if nkf_counter % options.nkf_sample != 0:
continue
(lat, lng) = pos
elif type in ['ANU5']:
(lat, lng) = (m.Alat * 1.0e-7, m.Alng * 1.0e-7)
elif type in ['AHR2', 'POS', 'CHEK']:
(lat, lng) = (m.Lat, m.Lng)
elif type == 'AHRS2':
(lat, lng) = (m.lat * 1.0e-7, m.lng * 1.0e-7)
else:
lat = m.lat * 1.0e-7
lng = m.lon * 1.0e-7
# automatically add new types to instances
if type not in instances:
instances[type] = len(instances)
while len(instances) >= len(path):
path.append([])
instance = instances[type]
if abs(lat) > 0.01 or abs(lng) > 0.01:
colour = colour_for_point(mlog, (lat, lng), instance, options)
point = (lat, lng, colour)
if options.rate == 0 or not type in last_timestamps or m._timestamp - last_timestamps[
type] > 1.0 / options.rate:
last_timestamps[type] = m._timestamp
path[instance].append(point)
if len(path[0]) == 0:
print("No points to plot")
return
bounds = mp_util.polygon_bounds(path[0])
(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_objs = []
for i in range(len(path)):
if len(path[i]) != 0:
path_objs.append(
mp_slipmap.SlipPolygon('FlightPath[%u]-%s' % (i, title),
path[i],
layer='FlightPath',
linewidth=2,
colour=(255, 0, 180)))
plist = wp.polygon_list()
mission_obj = None
if len(plist) > 0:
mission_obj = []
for i in range(len(plist)):
mission_obj.append(
mp_slipmap.SlipPolygon('Mission-%s-%u' % (title, i),
plist[i],
layer='Mission',
linewidth=2,
colour=(255, 255, 255)))
else:
mission_obj = None
fence = fen.polygon()
if len(fence) > 1:
fence_obj = mp_slipmap.SlipPolygon('Fence-%s' % title,
fen.polygon(),
layer='Fence',
linewidth=2,
colour=(0, 255, 0))
else:
fence_obj = None
if options.imagefile:
create_imagefile(options, options.imagefile, (lat, lon), ground_width,
path_objs, mission_obj, fence_obj)
else:
global multi_map
if options.multi and multi_map is not None:
map = multi_map
else:
map = mp_slipmap.MPSlipMap(title=title,
service=options.service,
elevation=True,
width=600,
height=600,
ground_width=ground_width,
lat=lat,
lon=lon,
debug=options.debug)
if options.multi:
multi_map = map
for path_obj in path_objs:
map.add_object(path_obj)
if mission_obj is not None:
display_waypoints(wp, map)
if fence_obj is not None:
map.add_object(fence_obj)
for flag in options.flag:
a = flag.split(',')
lat = a[0]
lon = a[1]
icon = 'flag.png'
if len(a) > 2:
icon = a[2] + '.png'
icon = map.icon(icon)
map.add_object(
mp_slipmap.SlipIcon('icon - %s' % str(flag),
(float(lat), float(lon)),
icon,
layer=3,
rotation=0,
follow=False))
source = getattr(options, "colour_source", "flightmode")
if source != "flightmode":
print("colour-source: min=%f max=%f" %
(colour_source_min, colour_source_max))
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', 'GPS_RAW_INT', 'GPS'])
if m is None:
break
if m.get_type() == 'MISSION_ITEM':
wp.set(m, m.seq)
continue
if m.get_type() == 'GLOBAL_POSITION_INT' and opts.rawgps:
continue
if m.get_type() == 'GPS_RAW_INT' and not opts.rawgps:
continue
if not mlog.check_condition(opts.condition):
continue
if opts.mode is not None and mlog.flightmode.lower() != opts.mode.lower():
continue
if m.get_type() == 'GPS':
if m.Status < 2:
continue
# flash log
lat = m.Lat
lng = m.Lng
else:
lat = m.lat * 1.0e-7
lng = m.lon * 1.0e-7
if lat != 0 or lng != 0:
if getattr(mlog, 'flightmode','') in colourmap:
point = (lat, lng, colourmap[mlog.flightmode])
else:
point = (lat, lng)
path.append(point)
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,
debug=opts.debug)
map.add_object(path_obj)
if mission_obj is not None:
map.add_object(mission_obj)
for flag in opts.flag:
a = flag.split(',')
lat = a[0]
lon = a[1]
icon = 'flag.png'
if len(a) > 2:
icon = a[2] + '.png'
icon = map.icon(icon)
map.add_object(mp_slipmap.SlipIcon('icon - %s' % str(flag), (float(lat),float(lon)), icon, layer=3, rotation=0, follow=False))
def cmd_wp_movemulti(self, args):
'''handle wp move of multiple waypoints'''
if len(args) < 3:
print("usage: wp movemulti WPNUM WPSTART WPEND <rotation>")
return
idx = int(args[0])
if idx < 1 or idx > self.wploader.count():
print("Invalid wp number %u" % idx)
return
wpstart = int(args[1])
if wpstart < 1 or wpstart > self.wploader.count():
print("Invalid wp number %u" % wpstart)
return
wpend = int(args[2])
if wpend < 1 or wpend > self.wploader.count():
print("Invalid wp number %u" % wpend)
return
if idx < wpstart or idx > wpend:
print("WPNUM must be between WPSTART and WPEND")
return
# optional rotation about center point
if len(args) > 3:
rotation = float(args[3])
else:
rotation = 0
try:
latlon = self.module('map').click_position
except Exception:
print("No map available")
return
if latlon is None:
print("No map click position available")
return
wp = self.wploader.wp(idx)
if not self.wploader.is_location_command(wp.command):
print("WP must be a location command")
return
(lat, lon) = latlon
distance = mp_util.gps_distance(wp.x, wp.y, lat, lon)
bearing = mp_util.gps_bearing(wp.x, wp.y, lat, lon)
for wpnum in range(wpstart, wpend+1):
wp = self.wploader.wp(wpnum)
if not self.wploader.is_location_command(wp.command):
continue
(newlat, newlon) = mp_util.gps_newpos(wp.x, wp.y, bearing, distance)
if wpnum != idx and rotation != 0:
# add in rotation
d2 = mp_util.gps_distance(lat, lon, newlat, newlon)
b2 = mp_util.gps_bearing(lat, lon, newlat, newlon)
(newlat, newlon) = mp_util.gps_newpos(lat, lon, b2+rotation, d2)
if getattr(self.console, 'ElevationMap', None) is not None and wp.frame != mavutil.mavlink.MAV_FRAME_GLOBAL_TERRAIN_ALT:
alt1 = self.console.ElevationMap.GetElevation(newlat, newlon)
alt2 = self.console.ElevationMap.GetElevation(wp.x, wp.y)
if alt1 is not None and alt2 is not None:
wp.z += alt1 - alt2
wp.x = newlat
wp.y = newlon
wp.target_system = self.target_system
wp.target_component = self.target_component
self.wploader.set(wp, wpnum)
self.loading_waypoints = True
self.loading_waypoint_lasttime = time.time()
self.master.mav.mission_write_partial_list_send(self.target_system,
self.target_component,
wpstart, wpend+1)
print("Moved WPs %u:%u to %f, %f rotation=%.1f" % (wpstart, wpend, lat, lon, rotation))
def mavlink_packet(self, m):
"""handle an incoming mavlink packet"""
if m.get_type() == "HEARTBEAT":
from pymavlink import mavutil
if m.type in [mavutil.mavlink.MAV_TYPE_FIXED_WING]:
self.vehicle_type_name = "plane"
elif m.type in [
mavutil.mavlink.MAV_TYPE_GROUND_ROVER,
mavutil.mavlink.MAV_TYPE_SURFACE_BOAT,
mavutil.mavlink.MAV_TYPE_SUBMARINE,
]:
self.vehicle_type_name = "rover"
elif m.type in [
mavutil.mavlink.MAV_TYPE_QUADROTOR,
mavutil.mavlink.MAV_TYPE_COAXIAL,
mavutil.mavlink.MAV_TYPE_HEXAROTOR,
mavutil.mavlink.MAV_TYPE_OCTOROTOR,
mavutil.mavlink.MAV_TYPE_TRICOPTER,
mavutil.mavlink.MAV_TYPE_HELICOPTER,
]:
self.vehicle_type_name = "copter"
elif m.type in [mavutil.mavlink.MAV_TYPE_ANTENNA_TRACKER]:
self.vehicle_type_name = "antenna"
# this is the beginnings of allowing support for multiple vehicles
# in the air at the same time
vehicle = "Vehicle%u" % m.get_srcSystem()
if m.get_type() == "SIMSTATE" and self.map_settings.showsimpos:
self.create_vehicle_icon("Sim" + vehicle, "green")
self.mpstate.map.set_position(
"Sim" + vehicle, (m.lat * 1.0e-7, m.lng * 1.0e-7), rotation=math.degrees(m.yaw)
)
if m.get_type() == "AHRS2" and self.map_settings.showahrs2pos:
self.create_vehicle_icon("AHRS2" + vehicle, "blue")
self.mpstate.map.set_position(
"AHRS2" + vehicle, (m.lat * 1.0e-7, m.lng * 1.0e-7), rotation=math.degrees(m.yaw)
)
if m.get_type() == "GPS_RAW_INT" and self.map_settings.showgpspos:
(lat, lon) = (m.lat * 1.0e-7, m.lon * 1.0e-7)
if lat != 0 or lon != 0:
self.create_vehicle_icon("GPS" + vehicle, "blue")
self.mpstate.map.set_position("GPS" + vehicle, (lat, lon), rotation=m.cog * 0.01)
if m.get_type() == "GPS2_RAW" and self.map_settings.showgps2pos:
(lat, lon) = (m.lat * 1.0e-7, m.lon * 1.0e-7)
if lat != 0 or lon != 0:
self.create_vehicle_icon("GPS2" + vehicle, "green")
self.mpstate.map.set_position("GPS2" + vehicle, (lat, lon), rotation=m.cog * 0.01)
if m.get_type() == "GLOBAL_POSITION_INT":
(self.lat, self.lon, self.heading) = (m.lat * 1.0e-7, m.lon * 1.0e-7, m.hdg * 0.01)
if self.lat != 0 or self.lon != 0:
self.create_vehicle_icon("Pos" + vehicle, "red", follow=True)
self.mpstate.map.set_position("Pos" + vehicle, (self.lat, self.lon), rotation=self.heading)
if m.get_type() == "NAV_CONTROLLER_OUTPUT":
if self.master.flightmode in ["AUTO", "GUIDED", "LOITER", "RTL"]:
trajectory = [(self.lat, self.lon), mp_util.gps_newpos(self.lat, self.lon, m.target_bearing, m.wp_dist)]
self.mpstate.map.add_object(
mp_slipmap.SlipPolygon(
"trajectory", trajectory, layer="Trajectory", linewidth=2, colour=(255, 0, 180)
)
)
else:
self.mpstate.map.add_object(mp_slipmap.SlipClearLayer("Trajectory"))
# if the waypoints have changed, redisplay
last_wp_change = self.module("wp").wploader.last_change
if self.wp_change_time != last_wp_change and abs(time.time() - last_wp_change) > 1:
self.wp_change_time = last_wp_change
self.display_waypoints()
# this may have affected the landing lines from the rally points:
self.rally_change_time = time.time()
# if the fence has changed, redisplay
if self.fence_change_time != self.module("fence").fenceloader.last_change:
self.display_fence()
# if the rallypoints have changed, redisplay
if self.rally_change_time != self.module("rally").rallyloader.last_change:
self.rally_change_time = self.module("rally").rallyloader.last_change
icon = self.mpstate.map.icon("rallypoint.png")
self.mpstate.map.add_object(mp_slipmap.SlipClearLayer("RallyPoints"))
for i in range(self.module("rally").rallyloader.rally_count()):
rp = self.module("rally").rallyloader.rally_point(i)
popup = MPMenuSubMenu(
"Popup",
items=[
MPMenuItem("Rally Remove", returnkey="popupRallyRemove"),
MPMenuItem("Rally Move", returnkey="popupRallyMove"),
],
)
self.mpstate.map.add_object(
mp_slipmap.SlipIcon(
"Rally %u" % (i + 1),
(rp.lat * 1.0e-7, rp.lng * 1.0e-7),
icon,
layer="RallyPoints",
rotation=0,
follow=False,
popup_menu=popup,
)
)
loiter_rad = self.get_mav_param("WP_LOITER_RAD")
if self.map_settings.rallycircle:
self.mpstate.map.add_object(
mp_slipmap.SlipCircle(
"Rally Circ %u" % (i + 1),
"RallyPoints",
(rp.lat * 1.0e-7, rp.lng * 1.0e-7),
abs(loiter_rad),
(255, 255, 0),
2,
)
)
# draw a line between rally point and nearest landing point
nearest_land_wp = None
nearest_distance = 10000000.0
for j in range(self.module("wp").wploader.count()):
w = self.module("wp").wploader.wp(j)
if w.command == 21: # if landing waypoint
# get distance between rally point and this waypoint
dis = mp_util.gps_distance(w.x, w.y, rp.lat * 1.0e-7, rp.lng * 1.0e-7)
if dis < nearest_distance:
nearest_land_wp = w
nearest_distance = dis
if nearest_land_wp != None:
points = []
# tangential approach?
if self.get_mav_param("LAND_BREAK_PATH") == 0:
theta = math.degrees(math.atan(loiter_rad / nearest_distance))
tan_dis = math.sqrt(nearest_distance * nearest_distance - (loiter_rad * loiter_rad))
ral_bearing = mp_util.gps_bearing(
nearest_land_wp.x, nearest_land_wp.y, rp.lat * 1.0e-7, rp.lng * 1.0e-7
)
points.append(
mp_util.gps_newpos(nearest_land_wp.x, nearest_land_wp.y, ral_bearing + theta, tan_dis)
)
else: # not tangential approach
points.append((rp.lat * 1.0e-7, rp.lng * 1.0e-7))
points.append((nearest_land_wp.x, nearest_land_wp.y))
self.mpstate.map.add_object(
mp_slipmap.SlipPolygon("Rally Land %u" % (i + 1), points, "RallyPoints", (255, 255, 0), 2)
)
# check for any events from the map
self.mpstate.map.check_events()
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)
fen = mavwp.MAVFenceLoader()
if opts.fence is not None:
fen.load(opts.fence)
path = [[]]
instances = {}
types = ['MISSION_ITEM','CMD']
if opts.types is not None:
types.extend(opts.types.split(','))
else:
types.extend(['GPS','GLOBAL_POSITION_INT'])
if opts.rawgps or opts.dualgps:
types.extend(['GPS', 'GPS_RAW_INT'])
if opts.rawgps2 or opts.dualgps:
types.extend(['GPS2_RAW','GPS2'])
if opts.ekf:
types.extend(['EKF1', 'GPS'])
if opts.ahr2:
types.extend(['AHR2', 'AHRS2', 'GPS'])
print("Looking for types %s" % str(types))
while True:
try:
m = mlog.recv_match(type=types)
if m is None:
break
except Exception:
break
if m.get_type() == 'MISSION_ITEM':
try:
while m.seq > wp.count():
print("Adding dummy WP %u" % wp.count())
wp.set(m, wp.count())
wp.set(m, m.seq)
except Exception:
pass
continue
if m.get_type() == 'CMD':
m = mavutil.mavlink.MAVLink_mission_item_message(0,
0,
m.CNum,
mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT,
m.CId,
0, 1,
m.Prm1, m.Prm2, m.Prm3, m.Prm4,
m.Lat, m.Lng, m.Alt)
try:
while m.seq > wp.count():
print("Adding dummy WP %u" % wp.count())
wp.set(m, wp.count())
wp.set(m, m.seq)
except Exception:
pass
continue
if not mlog.check_condition(opts.condition):
continue
if opts.mode is not None and mlog.flightmode.lower() != opts.mode.lower():
continue
if m.get_type() in ['GPS','GPS2']:
status = getattr(m, 'Status', None)
if status is None:
status = getattr(m, 'FixType', None)
if status is None:
print("Can't find status on GPS message")
print(m)
break
if status < 2:
continue
# flash log
lat = m.Lat
lng = getattr(m, 'Lng', None)
if lng is None:
lng = getattr(m, 'Lon', None)
if lng is None:
print("Can't find longitude on GPS message")
print(m)
break
elif m.get_type() == 'EKF1':
pos = mavextra.ekf1_pos(m)
if pos is None:
continue
(lat, lng) = pos
elif m.get_type() == 'AHR2':
(lat, lng) = (m.Lat, m.Lng)
elif m.get_type() == 'AHRS2':
(lat, lng) = (m.lat*1.0e-7, m.lng*1.0e-7)
else:
lat = m.lat * 1.0e-7
lng = m.lon * 1.0e-7
# automatically add new types to instances
if m.get_type() not in instances:
instances[m.get_type()] = len(instances)
while len(instances) >= len(path):
path.append([])
instance = instances[m.get_type()]
if abs(lat)>0.01 or abs(lng)>0.01:
if getattr(mlog, 'flightmode','') in colourmap:
colour = colourmap[mlog.flightmode]
(r,g,b) = colour
(r,g,b) = (r+instance*50,g+instance*50,b+instance*50)
if r > 255:
r = 205
if g > 255:
g = 205
if b > 255:
b = 205
colour = (r,g,b)
point = (lat, lng, colour)
else:
point = (lat, lng)
path[instance].append(point)
if len(path[0]) == 0:
print("No points to plot")
return
bounds = mp_util.polygon_bounds(path[0])
(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_objs = []
for i in range(len(path)):
if len(path[i]) != 0:
path_objs.append(mp_slipmap.SlipPolygon('FlightPath[%u]-%s' % (i,filename), path[i], layer='FlightPath',
linewidth=2, colour=(255,0,180)))
plist = wp.polygon_list()
mission_obj = None
if len(plist) > 0:
mission_obj = []
for i in range(len(plist)):
mission_obj.append(mp_slipmap.SlipPolygon('Mission-%s-%u' % (filename,i), plist[i], layer='Mission',
linewidth=2, colour=(255,255,255)))
else:
mission_obj = None
fence = fen.polygon()
if len(fence) > 1:
fence_obj = mp_slipmap.SlipPolygon('Fence-%s' % filename, fen.polygon(), layer='Fence',
linewidth=2, colour=(0,255,0))
else:
fence_obj = None
if opts.imagefile:
create_imagefile(opts.imagefile, (lat,lon), ground_width, path_objs, mission_obj, fence_obj)
else:
global multi_map
if opts.multi and multi_map is not None:
map = multi_map
else:
map = mp_slipmap.MPSlipMap(title=filename,
service=opts.service,
elevation=True,
width=600,
height=600,
ground_width=ground_width,
lat=lat, lon=lon,
debug=opts.debug)
if opts.multi:
multi_map = map
for path_obj in path_objs:
map.add_object(path_obj)
if mission_obj is not None:
display_waypoints(wp, map)
if fence_obj is not None:
map.add_object(fence_obj)
for flag in opts.flag:
a = flag.split(',')
lat = a[0]
lon = a[1]
icon = 'flag.png'
if len(a) > 2:
icon = a[2] + '.png'
icon = map.icon(icon)
map.add_object(mp_slipmap.SlipIcon('icon - %s' % str(flag), (float(lat),float(lon)), icon, layer=3, rotation=0, follow=False))
SlipThumbnail('thumb', (opts.lat, opts.lon),
layer=1,
img=thumb,
border_width=2,
border_colour=(255, 0, 0)))
if opts.icon:
icon = cv2.imread(opts.icon)
sm.add_object(
SlipIcon('icon', (opts.lat, opts.lon),
icon,
layer=3,
rotation=90,
follow=True))
sm.set_position('icon',
mp_util.gps_newpos(opts.lat, opts.lon, 180, 100),
rotation=45)
sm.add_object(SlipInfoImage('detail', icon))
sm.add_object(SlipInfoText('detail text', 'test text'))
for flag in opts.flag:
(lat, lon) = flag.split(',')
icon = sm.icon('flag.png')
sm.add_object(
SlipIcon('icon - %s' % str(flag), (float(lat), float(lon)),
icon,
layer=3,
rotation=0,
follow=False))
while sm.is_alive():
def move(self, bearing, distance):
'''move position by bearing and distance'''
lat = self.pkt['I105']['Lat']['val']
lon = self.pkt['I105']['Lon']['val']
(lat, lon) = mp_util.gps_newpos(lat, lon, bearing, distance)
self.setpos(lat, lon)
def mavlink_packet(self, m):
'''handle an incoming mavlink packet'''
if m.get_type() == "HEARTBEAT":
from pymavlink import mavutil
if m.type in [mavutil.mavlink.MAV_TYPE_FIXED_WING]:
self.vehicle_type_name = 'plane'
elif m.type in [mavutil.mavlink.MAV_TYPE_GROUND_ROVER,
mavutil.mavlink.MAV_TYPE_SURFACE_BOAT,
mavutil.mavlink.MAV_TYPE_SUBMARINE]:
self.vehicle_type_name = 'rover'
elif m.type in [mavutil.mavlink.MAV_TYPE_QUADROTOR,
mavutil.mavlink.MAV_TYPE_COAXIAL,
mavutil.mavlink.MAV_TYPE_HEXAROTOR,
mavutil.mavlink.MAV_TYPE_OCTOROTOR,
mavutil.mavlink.MAV_TYPE_TRICOPTER,
mavutil.mavlink.MAV_TYPE_HELICOPTER]:
self.vehicle_type_name = 'copter'
elif m.type in [mavutil.mavlink.MAV_TYPE_ANTENNA_TRACKER]:
self.vehicle_type_name = 'antenna'
# this is the beginnings of allowing support for multiple vehicles
# in the air at the same time
vehicle = 'Vehicle%u' % m.get_srcSystem()
if m.get_type() == "SIMSTATE" and self.map_settings.showsimpos:
self.create_vehicle_icon('Sim' + vehicle, 'green')
self.mpstate.map.set_position('Sim' + vehicle, (m.lat*1.0e-7, m.lng*1.0e-7), rotation=math.degrees(m.yaw))
if m.get_type() == "AHRS2" and self.map_settings.showahrs2pos:
self.create_vehicle_icon('AHRS2' + vehicle, 'blue')
self.mpstate.map.set_position('AHRS2' + vehicle, (m.lat*1.0e-7, m.lng*1.0e-7), rotation=math.degrees(m.yaw))
if m.get_type() == "GPS_RAW_INT" and self.map_settings.showgpspos:
(lat, lon) = (m.lat*1.0e-7, m.lon*1.0e-7)
if lat != 0 or lon != 0:
self.create_vehicle_icon('GPS' + vehicle, 'blue')
self.mpstate.map.set_position('GPS' + vehicle, (lat, lon), rotation=m.cog*0.01)
if m.get_type() == "GPS2_RAW" and self.map_settings.showgps2pos:
(lat, lon) = (m.lat*1.0e-7, m.lon*1.0e-7)
if lat != 0 or lon != 0:
self.create_vehicle_icon('GPS2' + vehicle, 'green')
self.mpstate.map.set_position('GPS2' + vehicle, (lat, lon), rotation=m.cog*0.01)
if m.get_type() == 'GLOBAL_POSITION_INT':
(self.lat, self.lon, self.heading) = (m.lat*1.0e-7, m.lon*1.0e-7, m.hdg*0.01)
if self.lat != 0 or self.lon != 0:
self.create_vehicle_icon('Pos' + vehicle, 'red', follow=True)
self.mpstate.map.set_position('Pos' + vehicle, (self.lat, self.lon), rotation=self.heading)
if m.get_type() == "NAV_CONTROLLER_OUTPUT":
if self.master.flightmode in [ "AUTO", "GUIDED", "LOITER", "RTL" ]:
trajectory = [ (self.lat, self.lon),
mp_util.gps_newpos(self.lat, self.lon, m.target_bearing, m.wp_dist) ]
self.mpstate.map.add_object(mp_slipmap.SlipPolygon('trajectory', trajectory, layer='Trajectory',
linewidth=2, colour=(255,0,180)))
else:
self.mpstate.map.add_object(mp_slipmap.SlipClearLayer('Trajectory'))
# if the waypoints have changed, redisplay
if self.wp_change_time != self.module('wp').wploader.last_change:
self.wp_change_time = self.module('wp').wploader.last_change
self.display_waypoints()
# if the fence has changed, redisplay
if self.fence_change_time != self.module('fence').fenceloader.last_change:
self.display_fence()
# if the rallypoints have changed, redisplay
if self.rally_change_time != self.module('rally').rallyloader.last_change:
self.rally_change_time = self.module('rally').rallyloader.last_change
icon = self.mpstate.map.icon('rallypoint.png')
self.mpstate.map.add_object(mp_slipmap.SlipClearLayer('RallyPoints'))
for i in range(self.module('rally').rallyloader.rally_count()):
rp = self.module('rally').rallyloader.rally_point(i)
popup = MPMenuSubMenu('Popup',
items=[MPMenuItem('Rally Remove', returnkey='popupRallyRemove'),
MPMenuItem('Rally Move', returnkey='popupRallyMove')])
self.mpstate.map.add_object(mp_slipmap.SlipIcon('Rally %u' % (i+1), (rp.lat*1.0e-7, rp.lng*1.0e-7), icon,
layer='RallyPoints', rotation=0, follow=False,
popup_menu=popup))
# check for any events from the map
self.mpstate.map.check_events()
def move(self, heading, distance):
lat = self.pkt['I105']['Lat']['val']
lon = self.pkt['I105']['Lon']['val']
(lat, lon) = mp_util.gps_newpos(lat, lon, heading, distance)
self.setpos(lat, lon)
def mavflightview_show(path, wp, fen, used_flightmodes, mav_type, options, instances, title=None, timelim_pipe=None):
if not title:
title='MAVFlightView'
boundary_path = []
for p in path[0]:
boundary_path.append((p[0],p[1]))
fence = fen.polygon()
if options.fencebounds:
for p in fence:
boundary_path.append((p[0],p[1]))
bounds = mp_util.polygon_bounds(boundary_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_objs = []
for i in range(len(path)):
if len(path[i]) != 0:
path_objs.append(mp_slipmap.SlipPolygon('FlightPath[%u]-%s' % (i,title), path[i], layer='FlightPath',
linewidth=2, colour=(255,0,180)))
plist = wp.polygon_list()
mission_obj = None
if len(plist) > 0:
mission_obj = []
for i in range(len(plist)):
mission_obj.append(mp_slipmap.SlipPolygon('Mission-%s-%u' % (title,i), plist[i], layer='Mission',
linewidth=2, colour=(255,255,255)))
else:
mission_obj = None
if len(fence) > 1:
fence_obj = mp_slipmap.SlipPolygon('Fence-%s' % title, fen.polygon(), layer='Fence',
linewidth=2, colour=(0,255,0))
else:
fence_obj = None
kml = getattr(options,'kml',None)
if kml is not None:
kml_objects = load_kml(kml)
else:
kml_objects = None
if options.imagefile:
create_imagefile(options, options.imagefile, (lat,lon), ground_width, path_objs, mission_obj, fence_obj, kml_objects, used_flightmodes=used_flightmodes, mav_type=mav_type)
else:
global multi_map
if options.multi and multi_map is not None:
map = multi_map
else:
map = mp_slipmap.MPSlipMap(title=title,
service=options.service,
elevation=True,
width=600,
height=600,
ground_width=ground_width,
lat=lat, lon=lon,
debug=options.debug,
show_flightmode_legend=options.show_flightmode_legend,
timelim_pipe=timelim_pipe)
if options.multi:
multi_map = map
for path_obj in path_objs:
map.add_object(path_obj)
if mission_obj is not None:
display_waypoints(wp, map)
if fence_obj is not None:
map.add_object(fence_obj)
if kml_objects is not None:
for obj in kml_objects:
map.add_object(obj)
for flag in options.flag:
a = flag.split(',')
lat = a[0]
lon = a[1]
icon = 'flag.png'
if len(a) > 2:
icon = a[2] + '.png'
icon = map.icon(icon)
map.add_object(mp_slipmap.SlipIcon('icon - %s' % str(flag), (float(lat),float(lon)), icon, layer=3, rotation=0, follow=False))
if options.colour_source == "flightmode":
tuples = [ (mode, colour_for_flightmode(mav_type, mode))
for mode in used_flightmodes.keys() ]
map.add_object(mp_slipmap.SlipFlightModeLegend("legend", tuples))
elif options.colour_source == "type":
tuples = [ (t, map_colours[instances[t]]) for t in instances.keys() ]
map.add_object(mp_slipmap.SlipFlightModeLegend("legend", tuples))
else:
print("colour-source: min=%f max=%f" % (colour_source_min, colour_source_max))
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)
fen = mavwp.MAVFenceLoader()
if opts.fence is not None:
fen.load(opts.fence)
path = [[]]
instances = {}
ekf_counter = 0
types = ["MISSION_ITEM", "CMD"]
if opts.types is not None:
types.extend(opts.types.split(","))
else:
types.extend(["GPS", "GLOBAL_POSITION_INT"])
if opts.rawgps or opts.dualgps:
types.extend(["GPS", "GPS_RAW_INT"])
if opts.rawgps2 or opts.dualgps:
types.extend(["GPS2_RAW", "GPS2"])
if opts.ekf:
types.extend(["EKF1", "GPS"])
if opts.ahr2:
types.extend(["AHR2", "AHRS2", "GPS"])
print("Looking for types %s" % str(types))
last_timestamps = {}
while True:
try:
m = mlog.recv_match(type=types)
if m is None:
break
except Exception:
break
type = m.get_type()
if type == "MISSION_ITEM":
try:
while m.seq > wp.count():
print("Adding dummy WP %u" % wp.count())
wp.set(m, wp.count())
wp.set(m, m.seq)
except Exception:
pass
continue
if type == "CMD":
m = mavutil.mavlink.MAVLink_mission_item_message(
0,
0,
m.CNum,
mavutil.mavlink.MAV_FRAME_GLOBAL_RELATIVE_ALT,
m.CId,
0,
1,
m.Prm1,
m.Prm2,
m.Prm3,
m.Prm4,
m.Lat,
m.Lng,
m.Alt,
)
try:
while m.seq > wp.count():
print("Adding dummy WP %u" % wp.count())
wp.set(m, wp.count())
wp.set(m, m.seq)
except Exception:
pass
continue
if not mlog.check_condition(opts.condition):
continue
if opts.mode is not None and mlog.flightmode.lower() != opts.mode.lower():
continue
if type in ["GPS", "GPS2"]:
status = getattr(m, "Status", None)
if status is None:
status = getattr(m, "FixType", None)
if status is None:
print("Can't find status on GPS message")
print(m)
break
if status < 2:
continue
# flash log
lat = m.Lat
lng = getattr(m, "Lng", None)
if lng is None:
lng = getattr(m, "Lon", None)
if lng is None:
print("Can't find longitude on GPS message")
print(m)
break
elif type in ["EKF1", "ANU1"]:
pos = mavextra.ekf1_pos(m)
if pos is None:
continue
ekf_counter += 1
if ekf_counter % opts.ekf_sample != 0:
continue
(lat, lng) = pos
elif type in ["ANU5"]:
(lat, lng) = (m.Alat * 1.0e-7, m.Alng * 1.0e-7)
elif type in ["AHR2", "POS", "CHEK"]:
(lat, lng) = (m.Lat, m.Lng)
elif type == "AHRS2":
(lat, lng) = (m.lat * 1.0e-7, m.lng * 1.0e-7)
else:
lat = m.lat * 1.0e-7
lng = m.lon * 1.0e-7
# automatically add new types to instances
if type not in instances:
instances[type] = len(instances)
while len(instances) >= len(path):
path.append([])
instance = instances[type]
if abs(lat) > 0.01 or abs(lng) > 0.01:
fmode = getattr(mlog, "flightmode", "")
if fmode in colourmap:
colour = colourmap[fmode]
else:
colour = colourmap["UNKNOWN"]
(r, g, b) = colour
(r, g, b) = (r + instance * 80, g + instance * 50, b + instance * 70)
if r > 255:
r = 205
if g > 255:
g = 205
if g < 0:
g = 0
if b > 255:
b = 205
colour = (r, g, b)
point = (lat, lng, colour)
if opts.rate == 0 or not type in last_timestamps or m._timestamp - last_timestamps[type] > 1.0 / opts.rate:
last_timestamps[type] = m._timestamp
path[instance].append(point)
if len(path[0]) == 0:
print("No points to plot")
return
bounds = mp_util.polygon_bounds(path[0])
(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_objs = []
for i in range(len(path)):
if len(path[i]) != 0:
path_objs.append(
mp_slipmap.SlipPolygon(
"FlightPath[%u]-%s" % (i, filename), path[i], layer="FlightPath", linewidth=2, colour=(255, 0, 180)
)
)
plist = wp.polygon_list()
mission_obj = None
if len(plist) > 0:
mission_obj = []
for i in range(len(plist)):
mission_obj.append(
mp_slipmap.SlipPolygon(
"Mission-%s-%u" % (filename, i), plist[i], layer="Mission", linewidth=2, colour=(255, 255, 255)
)
)
else:
mission_obj = None
fence = fen.polygon()
if len(fence) > 1:
fence_obj = mp_slipmap.SlipPolygon(
"Fence-%s" % filename, fen.polygon(), layer="Fence", linewidth=2, colour=(0, 255, 0)
)
else:
fence_obj = None
if opts.imagefile:
create_imagefile(opts.imagefile, (lat, lon), ground_width, path_objs, mission_obj, fence_obj)
else:
global multi_map
if opts.multi and multi_map is not None:
map = multi_map
else:
map = mp_slipmap.MPSlipMap(
title=filename,
service=opts.service,
elevation=True,
width=600,
height=600,
ground_width=ground_width,
lat=lat,
lon=lon,
debug=opts.debug,
)
if opts.multi:
multi_map = map
for path_obj in path_objs:
map.add_object(path_obj)
if mission_obj is not None:
display_waypoints(wp, map)
if fence_obj is not None:
map.add_object(fence_obj)
for flag in opts.flag:
a = flag.split(",")
lat = a[0]
lon = a[1]
icon = "flag.png"
if len(a) > 2:
icon = a[2] + ".png"
icon = map.icon(icon)
map.add_object(
mp_slipmap.SlipIcon(
"icon - %s" % str(flag), (float(lat), float(lon)), icon, layer=3, rotation=0, follow=False
)
)
def mavlink_packet(self, m):
'''handle an incoming mavlink packet'''
if m.get_type() == "HEARTBEAT":
from pymavlink import mavutil
if m.type in [mavutil.mavlink.MAV_TYPE_FIXED_WING]:
self.vehicle_type_name = 'plane'
elif m.type in [
mavutil.mavlink.MAV_TYPE_GROUND_ROVER,
mavutil.mavlink.MAV_TYPE_SURFACE_BOAT,
mavutil.mavlink.MAV_TYPE_SUBMARINE
]:
self.vehicle_type_name = 'rover'
elif m.type in [
mavutil.mavlink.MAV_TYPE_QUADROTOR,
mavutil.mavlink.MAV_TYPE_COAXIAL,
mavutil.mavlink.MAV_TYPE_HEXAROTOR,
mavutil.mavlink.MAV_TYPE_OCTOROTOR,
mavutil.mavlink.MAV_TYPE_TRICOPTER,
mavutil.mavlink.MAV_TYPE_HELICOPTER
]:
self.vehicle_type_name = 'copter'
elif m.type in [mavutil.mavlink.MAV_TYPE_ANTENNA_TRACKER]:
self.vehicle_type_name = 'antenna'
# this is the beginnings of allowing support for multiple vehicles
# in the air at the same time
vehicle = 'Vehicle%u' % m.get_srcSystem()
if m.get_type() == "SIMSTATE" and self.map_settings.showsimpos:
self.create_vehicle_icon('Sim' + vehicle, 'green')
self.mpstate.map.set_position('Sim' + vehicle,
(m.lat * 1.0e-7, m.lng * 1.0e-7),
rotation=math.degrees(m.yaw))
if m.get_type() == "AHRS2" and self.map_settings.showahrs2pos:
self.create_vehicle_icon('AHRS2' + vehicle, 'blue')
self.mpstate.map.set_position('AHRS2' + vehicle,
(m.lat * 1.0e-7, m.lng * 1.0e-7),
rotation=math.degrees(m.yaw))
if m.get_type() == "GPS_RAW_INT" and self.map_settings.showgpspos:
(lat, lon) = (m.lat * 1.0e-7, m.lon * 1.0e-7)
if lat != 0 or lon != 0:
self.create_vehicle_icon('GPS' + vehicle, 'blue')
self.mpstate.map.set_position('GPS' + vehicle, (lat, lon),
rotation=m.cog * 0.01)
if m.get_type() == "GPS2_RAW" and self.map_settings.showgps2pos:
(lat, lon) = (m.lat * 1.0e-7, m.lon * 1.0e-7)
if lat != 0 or lon != 0:
self.create_vehicle_icon('GPS2' + vehicle, 'green')
self.mpstate.map.set_position('GPS2' + vehicle, (lat, lon),
rotation=m.cog * 0.01)
if m.get_type() == 'GLOBAL_POSITION_INT':
(self.lat, self.lon, self.heading) = (m.lat * 1.0e-7,
m.lon * 1.0e-7, m.hdg * 0.01)
if self.lat != 0 or self.lon != 0:
self.create_vehicle_icon('Pos' + vehicle, 'red', follow=True)
self.mpstate.map.set_position('Pos' + vehicle,
(self.lat, self.lon),
rotation=self.heading)
if m.get_type() == "NAV_CONTROLLER_OUTPUT":
if self.master.flightmode in ["AUTO", "GUIDED", "LOITER", "RTL"]:
trajectory = [(self.lat, self.lon),
mp_util.gps_newpos(self.lat, self.lon,
m.target_bearing, m.wp_dist)]
self.mpstate.map.add_object(
mp_slipmap.SlipPolygon('trajectory',
trajectory,
layer='Trajectory',
linewidth=2,
colour=(255, 0, 180)))
else:
self.mpstate.map.add_object(
mp_slipmap.SlipClearLayer('Trajectory'))
# if the waypoints have changed, redisplay
last_wp_change = self.module('wp').wploader.last_change
if self.wp_change_time != last_wp_change and abs(time.time() -
last_wp_change) > 1:
self.wp_change_time = last_wp_change
self.display_waypoints()
#this may have affected the landing lines from the rally points:
self.rally_change_time = time.time()
# if the fence has changed, redisplay
if self.fence_change_time != self.module(
'fence').fenceloader.last_change:
self.display_fence()
# if the rallypoints have changed, redisplay
if self.rally_change_time != self.module(
'rally').rallyloader.last_change:
self.rally_change_time = self.module(
'rally').rallyloader.last_change
icon = self.mpstate.map.icon('rallypoint.png')
self.mpstate.map.add_object(
mp_slipmap.SlipClearLayer('RallyPoints'))
for i in range(self.module('rally').rallyloader.rally_count()):
rp = self.module('rally').rallyloader.rally_point(i)
popup = MPMenuSubMenu(
'Popup',
items=[
MPMenuItem('Rally Remove',
returnkey='popupRallyRemove'),
MPMenuItem('Rally Move', returnkey='popupRallyMove')
])
self.mpstate.map.add_object(
mp_slipmap.SlipIcon('Rally %u' % (i + 1),
(rp.lat * 1.0e-7, rp.lng * 1.0e-7),
icon,
layer='RallyPoints',
rotation=0,
follow=False,
popup_menu=popup))
loiter_rad = self.get_mav_param('WP_LOITER_RAD')
if self.map_settings.rallycircle:
self.mpstate.map.add_object(
mp_slipmap.SlipCircle(
'Rally Circ %u' % (i + 1),
'RallyPoints', (rp.lat * 1.0e-7, rp.lng * 1.0e-7),
abs(loiter_rad), (255, 255, 0), 2))
#draw a line between rally point and nearest landing point
nearest_land_wp = None
nearest_distance = 10000000.0
for j in range(self.module('wp').wploader.count()):
w = self.module('wp').wploader.wp(j)
if (w.command == 21): #if landing waypoint
#get distance between rally point and this waypoint
dis = mp_util.gps_distance(w.x, w.y, rp.lat * 1.0e-7,
rp.lng * 1.0e-7)
if (dis < nearest_distance):
nearest_land_wp = w
nearest_distance = dis
if nearest_land_wp != None:
points = []
#tangential approach?
if self.get_mav_param('LAND_BREAK_PATH') == 0:
theta = math.degrees(
math.atan(loiter_rad / nearest_distance))
tan_dis = math.sqrt(nearest_distance *
nearest_distance -
(loiter_rad * loiter_rad))
ral_bearing = mp_util.gps_bearing(
nearest_land_wp.x, nearest_land_wp.y,
rp.lat * 1.0e-7, rp.lng * 1.0e-7)
points.append(
mp_util.gps_newpos(nearest_land_wp.x,
nearest_land_wp.y,
ral_bearing + theta, tan_dis))
else: #not tangential approach
points.append((rp.lat * 1.0e-7, rp.lng * 1.0e-7))
points.append((nearest_land_wp.x, nearest_land_wp.y))
self.mpstate.map.add_object(
mp_slipmap.SlipPolygon('Rally Land %u' % (i + 1),
points, 'RallyPoints',
(255, 255, 0), 2))
# check for any events from the map
self.mpstate.map.check_events()
def mavlink_packet(m):
'''handle an incoming mavlink packet'''
state = mpstate.map_state
if m.get_type() == "SIMSTATE":
if not mpstate.map_state.have_simstate:
mpstate.map_state.have_simstate = True
create_blueplane()
mpstate.map.set_position('blueplane', (m.lat * 1.0e-7, m.lng * 1.0e-7),
rotation=math.degrees(m.yaw))
if m.get_type() == "GPS_RAW_INT" and not mpstate.map_state.have_simstate:
(lat, lon) = (m.lat * 1.0e-7, m.lon * 1.0e-7)
if state.lat is not None and (
mpstate.map_state.have_blueplane
or mp_util.gps_distance(lat, lon, state.lat, state.lon) > 10):
create_blueplane()
mpstate.map.set_position('blueplane', (lat, lon),
rotation=m.cog * 0.01)
if m.get_type() == "NAV_CONTROLLER_OUTPUT":
if mpstate.master().flightmode in ["AUTO", "GUIDED", "LOITER", "RTL"]:
trajectory = [(state.lat, state.lon),
mp_util.gps_newpos(state.lat, state.lon,
m.target_bearing, m.wp_dist)]
mpstate.map.add_object(
mp_slipmap.SlipPolygon('trajectory',
trajectory,
layer='Trajectory',
linewidth=2,
colour=(255, 0, 180)))
else:
mpstate.map.add_object(mp_slipmap.SlipClearLayer('Trajectory'))
if m.get_type() == 'GLOBAL_POSITION_INT':
(state.lat, state.lon, state.heading) = (m.lat * 1.0e-7,
m.lon * 1.0e-7, m.hdg * 0.01)
else:
return
if state.lat != 0 or state.lon != 0:
mpstate.map.set_position('plane', (state.lat, state.lon),
rotation=state.heading)
# if the waypoints have changed, redisplay
if state.wp_change_time != mpstate.status.wploader.last_change:
state.wp_change_time = mpstate.status.wploader.last_change
display_waypoints()
# if the fence has changed, redisplay
if state.fence_change_time != mpstate.status.fenceloader.last_change:
state.fence_change_time = mpstate.status.fenceloader.last_change
points = mpstate.status.fenceloader.polygon()
if len(points) > 1:
mpstate.map.add_object(
mp_slipmap.SlipPolygon('fence',
points,
layer=1,
linewidth=2,
colour=(0, 255, 0)))
# check for any events from the map
mpstate.map.check_events()
