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- #!/usr/bin/env python
- '''
- show GPS lock events in a MAVLink log
- '''
- from __future__ import print_function
- import time
- from argparse import ArgumentParser
- parser = ArgumentParser(description=__doc__)
- parser.add_argument("--condition", default=None, help="condition for packets")
- parser.add_argument("logs", metavar="LOG", nargs="+")
- args = parser.parse_args()
- from pymavlink import mavutil
- def lock_time(logfile):
- '''work out gps lock times for a log file'''
- print("Processing log %s" % filename)
- mlog = mavutil.mavlink_connection(filename)
- locked = False
- start_time = 0.0
- total_time = 0.0
- t = None
- m = mlog.recv_match(type=['GPS_RAW_INT','GPS_RAW'], condition=args.condition)
- if m is None:
- return 0
- unlock_time = time.mktime(time.localtime(m._timestamp))
- while True:
- m = mlog.recv_match(type=['GPS_RAW_INT','GPS_RAW'], condition=args.condition)
- if m is None:
- if locked:
- total_time += time.mktime(t) - start_time
- if total_time > 0:
- print("Lock time : %u:%02u" % (int(total_time)//60, int(total_time)%60))
- return total_time
- t = time.localtime(m._timestamp)
- if m.fix_type >= 2 and not locked:
- print("Locked at %s after %u seconds" % (time.asctime(t),
- time.mktime(t) - unlock_time))
- locked = True
- start_time = time.mktime(t)
- elif m.fix_type == 1 and locked:
- print("Lost GPS lock at %s" % time.asctime(t))
- locked = False
- total_time += time.mktime(t) - start_time
- unlock_time = time.mktime(t)
- elif m.fix_type == 0 and locked:
- print("Lost protocol lock at %s" % time.asctime(t))
- locked = False
- total_time += time.mktime(t) - start_time
- unlock_time = time.mktime(t)
- return total_time
- total = 0.0
- for filename in args.logs:
- total += lock_time(filename)
- print("Total time locked: %u:%02u" % (int(total)//60, int(total)%60))
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