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130 lines
3.9 KiB
130 lines
3.9 KiB
#!/usr/bin/env python |
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''' |
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play back an onboard log as a FlightGear FG NET stream |
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Useful for visualising flights |
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''' |
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from builtins import object |
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import sys |
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import time |
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from pymavlink import fgFDM |
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from pymavlink import mavutil |
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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="select packets by condition") |
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parser.add_argument("--fgout", action='append', default=['127.0.0.1:5503'], help="flightgear FDM NET output (IP:port)") |
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parser.add_argument("--attmsg", default='ATT', help="msg to use for attitude") |
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parser.add_argument("--speedup", type=float, default=1.0, help="playback speedup") |
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parser.add_argument("--chute-slowdown", type=float, default=1.0, help="slowdown after parachute release") |
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parser.add_argument("log", metavar="LOG") |
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args = parser.parse_args() |
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filename = args.log |
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class Playback(object): |
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def __init__(self, filename): |
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self.mlog = mavutil.mavlink_connection(filename) |
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self.fgout = [] |
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for f in args.fgout: |
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self.fgout.append(mavutil.mavudp(f, input=False)) |
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self.fdm = fgFDM.fgFDM() |
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self.chute_released = False |
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self.msg = self.next_msg() |
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if self.msg is None: |
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sys.exit(1) |
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self.last_timestamp = self.msg.TimeUS*1.0e-6 |
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while True: |
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self.next_message() |
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if self.msg is None: |
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break |
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def next_msg(self): |
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while True: |
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msg = self.mlog.recv_match(condition=args.condition) |
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if msg is None: |
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return None |
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if msg.get_type() not in ['PARM', 'FMT', 'CMD']: |
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return msg |
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def next_message(self): |
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'''called as each msg is ready''' |
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msg = self.msg |
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if msg is None: |
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return |
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timestamp = msg.TimeUS*1.0e-6 |
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dt = timestamp - self.last_timestamp |
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dt = max(dt, 0) |
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dt = min(dt, 1) |
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if dt > 0.01: |
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self.last_timestamp = timestamp |
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if self.chute_released: |
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dt *= args.chute_slowdown |
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else: |
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dt /= args.speedup |
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while dt > 0: |
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time.sleep(0.01) |
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dt -= 0.01 |
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if self.fdm.get('latitude') != 0: |
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for f in self.fgout: |
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f.write(self.fdm.pack()) |
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while True: |
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self.msg = self.next_msg() |
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if self.msg is None: |
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return |
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if self.msg is not None and self.msg.get_type() != "BAD_DATA": |
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break |
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if msg.get_type() == "HEARTBEAT": |
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self.is_mavlink = True |
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if msg.get_type() == "GPS": |
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self.fdm.set('latitude', msg.Lat, units='degrees') |
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self.fdm.set('longitude', msg.Lng, units='degrees') |
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self.fdm.set('altitude', msg.Alt, units='meters') |
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if msg.get_type() == args.attmsg: |
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self.fdm.set('phi', msg.Roll, units='degrees') |
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self.fdm.set('theta', msg.Pitch, units='degrees') |
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self.fdm.set('psi', msg.Yaw, units='degrees') |
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if msg.get_type() == "IMU": |
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self.fdm.set('phidot', msg.GyrX, units='rps') |
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self.fdm.set('thetadot', msg.GyrY, units='rps') |
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self.fdm.set('psidot', msg.GyrZ, units='rps') |
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if msg.get_type() == "RCOU": |
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self.fdm.set('num_engines', 4) |
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self.fdm.set('rpm', (msg.C1-1060), 0) |
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self.fdm.set('rpm', (msg.C2-1060), 1) |
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self.fdm.set('rpm', (msg.C3-1060), 2) |
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self.fdm.set('rpm', (msg.C4-1060), 3) |
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if msg.get_type() == 'MSG': |
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print("APM: %s" % msg.Message) |
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if msg.get_type() == 'EV': |
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if msg.Id == 51: |
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self.chute_released = True |
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print("PARACHTE RELEASED") |
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if self.fdm.get('latitude') != 0: |
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for f in self.fgout: |
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f.write(self.fdm.pack()) |
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playback = Playback(filename)
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