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Rpi-Pixhawk-GPS.py
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Rpi-Pixhawk-GPS.py
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from dronekit import connect, Command, LocationGlobal
from pymavlink import mavutil
import time, sys, argparse, math
import csv, datetime, os
from time import sleep
vehicle= connect('udpin:127.0.0.1:14550', wait_ready=False) ; vehicle.wait_ready(True, timeout=300)
def logfilename():
now = datetime.datetime.now()
return 'gps_%0.4d-%0.2d-%0.2d_%0.2d-%0.2d-%0.2d.csv' % \
(now.year, now.month, now.day,
now.hour, now.minute, now.second)
path='GPS CSV' #To save CSV in GPS CSV folder
csv_file = os.path.join(path,logfilename())
csv_file = open(csv_file, mode='w')
fieldnames = ["time", "latitude","longitude","altitude"]
writer = csv.DictWriter(csv_file, fieldnames=fieldnames)
writer.writeheader()
#print ("gps: %s") %vehicle.gps_0
#print ("Altitude: %s") %vehicle.location.global_relative_frame.alt
#print ("gps: %s") %vehicle.location.global_frame
#print ("gps: %s") %vehicle.location.global_frame.alt
print("Gps Values Getting stored in CSV")
while True:
#data = vehicle.location.global_frame
latitude = vehicle.location.global_frame.lat
longitude= vehicle.location.global_frame.lon
altitude= vehicle.location.global_frame.alt
sleep(1) #This SLEEP is used to change the GPS Mavlink Frequency stored in Rpi
#print("gps %s") % longitude
#print("gps %s") % latitude
writer.writerow({'time':str(datetime.datetime.now().strftime("%Y-%m-%d %H:%M:%S")),
'latitude':latitude,'longitude':longitude,'altitude':altitude})
csv_file.flush()