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69 lines
2.1 KiB
69 lines
2.1 KiB
13 years ago
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#!/usr/bin/env python
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'''
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show GPS lock events in a MAVLink log
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'''
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import sys, time, os
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# allow import from the parent directory, where mavlink.py is
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sys.path.insert(0, os.path.join(os.path.dirname(os.path.realpath(__file__)), '..'))
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from optparse import OptionParser
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parser = OptionParser("gpslock.py [options]")
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parser.add_option("--mav10", action='store_true', default=False, help="Use MAVLink protocol 1.0")
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(opts, args) = parser.parse_args()
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if opts.mav10:
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os.environ['MAVLINK10'] = '1'
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import mavutil
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if len(args) < 1:
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print("Usage: gpslock.py [options] <LOGFILE...>")
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sys.exit(1)
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def lock_time(logfile):
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'''work out gps lock times 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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locked = False
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start_time = 0.0
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total_time = 0.0
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t = None
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m = mlog.recv_match(type='GPS_RAW')
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unlock_time = time.mktime(time.localtime(m._timestamp))
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while True:
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m = mlog.recv_match(type='GPS_RAW')
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if m is None:
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if locked:
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total_time += time.mktime(t) - start_time
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if total_time > 0:
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print("Lock time : %u:%02u" % (int(total_time)/60, int(total_time)%60))
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return total_time
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t = time.localtime(m._timestamp)
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if m.fix_type == 2 and not locked:
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print("Locked at %s after %u seconds" % (time.asctime(t),
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time.mktime(t) - unlock_time))
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locked = True
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start_time = time.mktime(t)
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elif m.fix_type == 1 and locked:
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print("Lost GPS lock at %s" % time.asctime(t))
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locked = False
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total_time += time.mktime(t) - start_time
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unlock_time = time.mktime(t)
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elif m.fix_type == 0 and locked:
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print("Lost protocol lock at %s" % time.asctime(t))
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locked = False
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total_time += time.mktime(t) - start_time
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unlock_time = time.mktime(t)
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return total_time
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total = 0.0
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for filename in args:
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total += lock_time(filename)
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print("Total time locked: %u:%02u" % (int(total)/60, int(total)%60))
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