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- #!/usr/bin/env python
- '''
- example program to extract GPS data from a waypoint file, and create a GPX
- file, for loading into google earth
- '''
- from __future__ import print_function
- from builtins import range
- import time
- from argparse import ArgumentParser
- parser = ArgumentParser(description=__doc__)
- parser.add_argument("wpfiles", metavar="WP_FILE", nargs="+")
- args = parser.parse_args()
- from pymavlink import mavwp
- def wp_to_gpx(infilename, outfilename):
- '''convert a wp file to a GPX file'''
- wp = mavwp.MAVWPLoader()
- wp.load(infilename)
- outf = open(outfilename, mode='w')
- def process_wp(w, i):
- t = time.localtime(i)
- outf.write('''<wpt lat="%s" lon="%s">
- <ele>%s</ele>
- <cmt>WP %u</cmt>
- </wpt>
- ''' % (w.x, w.y, w.z, i))
- def add_header():
- outf.write('''<?xml version="1.0" encoding="UTF-8"?>
- <gpx
- version="1.0"
- creator="pymavlink"
- xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
- xmlns="http://www.topografix.com/GPX/1/0"
- xsi:schemaLocation="http://www.topografix.com/GPX/1/0 http://www.topografix.com/GPX/1/0/gpx.xsd">
- ''')
- def add_footer():
- outf.write('''
- </gpx>
- ''')
- add_header()
- count = 0
- for i in range(wp.count()):
- w = wp.wp(i)
- if w.frame == 3:
- w.z += wp.wp(0).z
- if w.command == 16:
- process_wp(w, i)
- count += 1
- add_footer()
- print("Created %s with %u points" % (outfilename, count))
- for infilename in args.wpfiles:
- outfilename = infilename + '.gpx'
- wp_to_gpx(infilename, outfilename)
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