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68 lines
2.1 KiB
68 lines
2.1 KiB
#!/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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