68 lines
1.9 KiB
Python
68 lines
1.9 KiB
Python
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#!/usr/bin/env python
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'''
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extract mavlink parameter values
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'''
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from __future__ import print_function
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import time
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from argparse import ArgumentParser
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parser = ArgumentParser(description=__doc__)
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parser.add_argument("-c", "--changes", dest="changesOnly", default=False, action="store_true", help="Show only changes to parameters.")
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parser.add_argument("--qgc", action='store_true', help="output in QGC-friendly format")
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parser.add_argument("logs", metavar="LOG", nargs="+")
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args = parser.parse_args()
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from pymavlink import mavutil
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parms = {}
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def mavparms(logfile):
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'''extract mavlink parameters'''
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mlog = mavutil.mavlink_connection(filename)
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while True:
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try:
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m = mlog.recv_match(type=['PARAM_VALUE', 'PARM'])
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if m is None:
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return
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except Exception:
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return
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if m.get_type() == 'PARAM_VALUE':
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pname = str(m.param_id).strip()
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value = m.param_value
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else:
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pname = m.Name
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value = m.Value
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if len(pname) > 0:
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if args.changesOnly is True and pname in parms and parms[pname] != value:
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print("%s %-15s %.6f -> %.6f" % (time.asctime(time.localtime(m._timestamp)), pname, parms[pname], value))
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parms[pname] = value
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total = 0.0
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for filename in args.logs:
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mavparms(filename)
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if args.qgc:
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# see https://dev.qgroundcontrol.com/master/en/file_formats/parameters.html
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print("""
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# # Vehicle-Id Component-Id Name Value Type
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""")
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if (args.changesOnly is False):
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keys = list(parms.keys())
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keys.sort()
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for p in keys:
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if args.qgc:
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MAV_PARAM_TYPE_REAL32 = 9
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sysid = 1
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compid = 1
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print("%u %u %-15s %.6f %u" %
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(sysid, compid, p, parms[p], MAV_PARAM_TYPE_REAL32))
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else:
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print("%-15s %.6f" % (p, parms[p]))
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