Add simple script to decode and plot the satcom messages

.gitignore

@@ -4,3 +4,5 @@ satcomSDcard/
 *~
 .settings*
 credentials.cfg
+.*
+*.csv

decode_rockblock_csv.py

@@ -0,0 +1,179 @@
+#!/usr/bin/env python
+
+import argparse
+from datetime import datetime
+import matplotlib.pyplot as plt
+import numpy as np
+from pymavlink import mavlink
+import pandas as pd
+
+MAV = mavlink.MAVLink(0)
+
+
+def printmsg(data):
+    m = None
+    try:
+        m = MAV.parse_buffer(data)
+    except:
+        pass
+    if m is not None:
+        for msg in m:
+            print 'MAV MSG %3d %s' % (msg.get_msgId(), msg.get_type())
+            print msg
+
+# TODO also parse the Iridium lat/long and compare it to the received messages
+
+
+def main():
+    parser = argparse.ArgumentParser(description='Parses a csv file consisting of SatCom messages generated by RockBlock.')
+    parser.add_argument('-f', dest='filename', required=True, help='Filename of the input csv file')
+    args = parser.parse_args()
+
+    data = pd.read_csv(args.filename, header=0)
+
+    hl2 = {
+        'id': 235,
+        'timestamp': [],
+        'type': [],
+        'autopilot': [],
+        'custom_mode': [],
+        'latitude': [],
+        'longitude': [],
+        'altitude': [],
+        'target_altitude': [],
+        'heading': [],
+        'target_heading': [],
+        'target_distance': [],
+        'throttle': [],
+        'airspeed': [],
+        'airspeed_sp': [],
+        'groundspeed': [],
+        'windspeed': [],
+        'wind_heading': [],
+        'eph': [],
+        'epv': [],
+        'temperature_air': [],
+        'climb_rate': [],
+        'battery': [],
+        'wp_num': [],
+        'failure_flags': [],
+        'custom0': [],
+        'custom1': [],
+        'custom2': [],
+
+    }
+
+    ack = {
+        'id': 77,
+        'timestamp': [],
+        'command': [],
+        'result': [],
+        'progress': [],
+        'result_param2': [],
+        'target_system': [],
+        'target_component': [],
+    }
+
+    first_timestamp = datetime.strptime(data['Date Time (UTC)'][len(data) - 1], '%d/%b/%Y %H:%M:%S')
+
+    # loop over data in reverse order
+    for i in range(len(data) - 1, -1, -1):
+        timestamp = (datetime.strptime(data['Date Time (UTC)'][i], '%d/%b/%Y %H:%M:%S') - first_timestamp).total_seconds()
+        payload = data['Payload'][i]
+
+        m = None
+        try:
+            m = MAV.parse_buffer(payload.decode('hex'))
+        except:
+            pass
+
+        if m is not None:
+            for msg in m:
+                if msg.id == hl2['id']:
+                    if msg.target_altitude > 0: # filter out the initial message
+                        hl2['timestamp'].append(msg.timestamp*1e-3)
+                        hl2['type'].append(msg.type)
+                        hl2['autopilot'].append(msg.autopilot)
+                        hl2['custom_mode'].append(msg.custom_mode)
+                        hl2['latitude'].append(msg.latitude*1e-7)
+                        hl2['longitude'].append(msg.longitude*1e-7)
+                        hl2['altitude'].append(msg.altitude)
+                        hl2['target_altitude'].append(msg.target_altitude)
+                        hl2['heading'].append(msg.heading*2)
+                        hl2['target_heading'].append(msg.target_heading*2)
+                        hl2['target_distance'].append(msg.target_distance*1e-1)
+                        hl2['throttle'].append(msg.throttle)
+                        hl2['airspeed'].append(msg.airspeed*0.2)
+                        hl2['airspeed_sp'].append(msg.airspeed_sp*0.2)
+                        hl2['groundspeed'].append(msg.groundspeed*0.2)
+                        hl2['windspeed'].append(msg.windspeed*0.2)
+                        hl2['wind_heading'].append(msg.wind_heading*2)
+                        hl2['eph'].append(msg.eph*1e-1)
+                        hl2['epv'].append(msg.epv*1e-1)
+                        hl2['temperature_air'].append(msg.temperature_air)
+                        hl2['climb_rate'].append(msg.climb_rate*1e-1)
+                        hl2['battery'].append(msg.battery)
+                        hl2['wp_num'].append(msg.wp_num)
+                        hl2['failure_flags'].append(msg.failure_flags)
+                        hl2['custom0'].append(msg.custom0)
+                        hl2['custom1'].append(msg.custom1)
+                        hl2['custom2'].append(msg.custom2)
+
+                elif msg.id == ack['id']:
+                    ack['timestamp'].append(timestamp)
+                    ack['command'].append(msg.command)
+                    ack['result'].append(msg.result)
+                    ack['progress'].append(msg.progress)
+                    ack['result_param2'].append(msg.result_param2)
+                    ack['target_system'].append(msg.target_system)
+                    ack['target_component'].append(msg.target_component)
+
+                else:
+                    print('Unknown message id:')
+                    print(msg.id)
+
+    # plot the position plots
+    fig, axs = plt.subplots(nrows=2, ncols=2)
+    axs[0][0].plot(hl2['timestamp'], hl2['latitude'])
+    axs[0][1].plot(hl2['timestamp'], hl2['longitude'])
+    axs[1][0].plot(hl2['timestamp'], hl2['altitude'])
+    axs[1][1].plot(hl2['timestamp'], hl2['target_altitude'])
+    axs[0][0].set(xlabel='timestamp [s]', ylabel='latitude [deg]')
+    axs[0][1].set(xlabel='timestamp [s]', ylabel='longitude [deg]')
+    axs[1][0].set(xlabel='timestamp [s]', ylabel='altitude [m]')
+    axs[1][1].set(xlabel='timestamp [s]', ylabel='target_altitude [m]')
+
+    fig, axs = plt.subplots(nrows=2, ncols=2)
+    axs[0][0].plot(hl2['timestamp'], hl2['heading'])
+    axs[0][1].plot(hl2['timestamp'], hl2['target_heading'])
+    axs[1][0].plot(hl2['timestamp'], hl2['target_distance'])
+    axs[1][1].plot(hl2['timestamp'], hl2['throttle'])
+    axs[0][0].set(xlabel='timestamp [s]', ylabel='heading [deg]')
+    axs[0][1].set(xlabel='timestamp [s]', ylabel='target_heading [deg]')
+    axs[1][0].set(xlabel='timestamp [s]', ylabel='target_distance [m]')
+    axs[1][1].set(xlabel='timestamp [s]', ylabel='throttle [%]')
+
+    fig, axs = plt.subplots(nrows=2, ncols=2)
+    axs[0][0].plot(hl2['timestamp'], hl2['airspeed'])
+    axs[0][1].plot(hl2['timestamp'], hl2['airspeed_sp'])
+    axs[1][0].plot(hl2['timestamp'], hl2['groundspeed'])
+    axs[1][1].plot(hl2['timestamp'], hl2['temperature_air'])
+    axs[0][0].set(xlabel='timestamp [s]', ylabel='airspeed [m/s]')
+    axs[0][1].set(xlabel='timestamp [s]', ylabel='airspeed_sp [m/s]')
+    axs[1][0].set(xlabel='timestamp [s]', ylabel='groundspeed [m/s]')
+    axs[1][1].set(xlabel='timestamp [s]', ylabel='temperature_air [degC]')
+
+    fig, axs = plt.subplots(nrows=2, ncols=2)
+    axs[0][0].plot(hl2['timestamp'], hl2['windspeed'])
+    axs[0][1].plot(hl2['timestamp'], hl2['wind_heading'])
+    axs[1][0].plot(hl2['timestamp'], hl2['climb_rate'])
+    axs[1][1].plot(hl2['timestamp'], hl2['battery'])
+    axs[0][0].set(xlabel='timestamp [s]', ylabel='windspeed [m/s]')
+    axs[0][1].set(xlabel='timestamp [s]', ylabel='wind_heading [deg]')
+    axs[1][0].set(xlabel='timestamp [s]', ylabel='climb_rate [m/s]')
+    axs[1][1].set(xlabel='timestamp [s]', ylabel='battery [%]')
+    plt.show()
+
+
+if __name__ == '__main__':
+    main()