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gpslag: cope with GPS instances #763

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Dec 28, 2022
Merged

gpslag: cope with GPS instances #763

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10 changes: 8 additions & 2 deletions tools/mavgpslag.py
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Original file line number Diff line number Diff line change
Expand Up @@ -23,7 +23,7 @@
parser = ArgumentParser(description=__doc__)
parser.add_argument("--plot", action='store_true', default=False, help="plot errors")
parser.add_argument("--minspeed", type=float, default=6, help="minimum speed")
parser.add_argument("--gps", default='', help="GPS number")
parser.add_argument("--gps", type=int, default=0, help="GPS number")
parser.add_argument("logs", metavar="LOG", nargs="+")

args = parser.parse_args()
Expand Down Expand Up @@ -83,20 +83,26 @@ def gps_lag(logfile):
dtcount = 0

while True:
m = mlog.recv_match(type=['GPS'+args.gps,'IMU','ATT','GPA'+args.gps])
m = mlog.recv_match(type=['GPS','IMU','ATT','GPA'])
if m is None:
break
t = m.get_type()
if t.startswith('GPS') and m.Status >= 3 and m.Spd>args.minspeed:
if m.I != args.gps:
continue
GPS = m;
elif t.startswith('GPA') and GPS is not None and GPS.TimeUS == m.TimeUS:
if m.I != args.gps:
continue
v = Vector3(GPS.Spd*cos(radians(GPS.GCrs)), GPS.Spd*sin(radians(GPS.GCrs)), GPS.VZ)
vel.append(v)
timestamps.append(m.SMS*0.001)
accel_indexes.append(max(len(gaccel)-1,0))
elif t == 'ATT':
ATT = m
elif t == 'IMU':
if m.I != 0:
continue
if ATT is not None:
ga = earth_accel_df(m, ATT)
ga.z += 9.80665
Expand Down