82 lines
2.7 KiB
Python
82 lines
2.7 KiB
Python
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#!/usr/bin/env python
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'''
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work out total flight time for a mavlink log
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'''
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from __future__ import print_function
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import time
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import glob
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from argparse import ArgumentParser
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parser = ArgumentParser(description=__doc__)
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parser.add_argument("--condition", default=None, help="condition for packets")
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parser.add_argument("--groundspeed", type=float, default=3.0, help="groundspeed threshold")
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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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from pymavlink.mavextra import distance_two
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def flight_time(logfile):
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'''work out flight time for a log file'''
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print("Processing log %s" % filename)
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mlog = mavutil.mavlink_connection(filename)
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in_air = False
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start_time = 0.0
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total_time = 0.0
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total_dist = 0.0
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t = None
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last_msg = None
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last_time_usec = None
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while True:
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m = mlog.recv_match(type=['GPS','GPS_RAW_INT'], condition=args.condition)
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if m is None:
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if in_air:
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total_time += time.mktime(t) - start_time
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if total_time > 0:
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print("Flight time : %u:%02u" % (int(total_time)/60, int(total_time)%60))
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return (total_time, total_dist)
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if m.get_type() == 'GPS_RAW_INT':
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groundspeed = m.vel*0.01
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status = m.fix_type
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time_usec = m.time_usec
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else:
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groundspeed = m.Spd
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status = m.Status
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time_usec = m.TimeUS
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if status < 3:
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continue
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t = time.localtime(m._timestamp)
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if groundspeed > args.groundspeed and not in_air:
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print("In air at %s (percent %.0f%% groundspeed %.1f)" % (time.asctime(t), mlog.percent, groundspeed))
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in_air = True
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start_time = time.mktime(t)
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elif groundspeed < args.groundspeed and in_air:
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print("On ground at %s (percent %.1f%% groundspeed %.1f time=%.1f seconds)" % (
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time.asctime(t), mlog.percent, groundspeed, time.mktime(t) - start_time))
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in_air = False
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total_time += time.mktime(t) - start_time
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if last_msg is None or time_usec > last_time_usec or time_usec+30e6 < last_time_usec:
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if last_msg is not None:
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total_dist += distance_two(last_msg, m)
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last_msg = m
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last_time_usec = time_usec
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return (total_time, total_dist)
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total_time = 0.0
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total_dist = 0.0
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for filename in args.logs:
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for f in glob.glob(filename):
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(ftime, fdist) = flight_time(f)
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total_time += ftime
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total_dist += fdist
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print("Total time in air: %u:%02u" % (int(total_time)//60, int(total_time)%60))
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print("Total distance travelled: %.1f meters" % total_dist)
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