https://github.com/stronnag/impload
Cross-platform command line application to upload missions in a number of formats to an iNav flight controller.
https://github.com/stronnag/impload
inav mwp plan-mission upload-mission
Last synced: 6 months ago
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Cross-platform command line application to upload missions in a number of formats to an iNav flight controller.
- Host: GitHub
- URL: https://github.com/stronnag/impload
- Owner: stronnag
- License: gpl-2.0
- Created: 2018-05-24T16:09:57.000Z (about 7 years ago)
- Default Branch: master
- Last Pushed: 2024-05-26T13:16:56.000Z (about 1 year ago)
- Last Synced: 2024-06-19T16:49:35.988Z (12 months ago)
- Topics: inav, mwp, plan-mission, upload-mission
- Language: Go
- Homepage: https://stronnag.github.io/impload/
- Size: 17 MB
- Stars: 16
- Watchers: 3
- Forks: 1
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
impload - iNav Mission Plan uploader
====================================
# Introduction
[impload](https://github.com/stronnag/impload) is a cross-platform command line application to upload missions in a number of formats to an INAV flight controller. "Alien" formats may also be converted to MW-XML. Supported formats include:
* [MW XML](https://github.com/iNavFlight/inav/tree/master/docs/development/wp_mission_schema) mission files (as used by [mwp](https://github.com/stronnag/mwptools), [inav configurator](https://github.com/iNavFlight/inav-configurator), ezgui, mission planner for inav)
* apmplanner / qgroundcontrol mission files (qgc plan mission and survey at least (QPC or JSON).
* GPX files (tracks, routes, waypoints)
* KML, KMZ files
* Plain, simple CSV files
* [mwp JSON](https://github.com/stronnag/mwptools/blob/master/samples/mission-schema.json) mission files]
* inav cli `wp` stanzas
Serial devices and TCP are supported for upload / download to / from flight controllers.
Please see the [user guide](https://stronnag.github.io/impload/) for more information.
[YouTube Tutorial](https://www.youtube.com/watch?v=Mktmk_Y6PhM)
```
$ impload --help
Usage of impload [options] command [files ...]
Options:
-a int
Default altitude (m) (default 20)
-b int
Baud rate (default 115200)
-d string
Serial Device
-fmt string
Output format (xml, json, md, cli, xml-ugly) (default "xml")
-force-land
Adds RTH / Land for 'external' formats
-force-rth
Adds RTH for 'external' formats
-rebase string
rebase 1st WP to location (as lat,lon[,wpidx,segidx])
-s float
Default speed (m/s)
-v Shows version
-verbose
Verbose
command:
Action required (upload|download|store|restore|convert|test|clear|erase|multi[=n])
```
## Device Name
impload supports the mwp device naming scheme:
* `serial_device[@baudrate]`
* `tcp://host:port`
* `udp://remotehost:remote_port`
* `udp://local_host:local_port/remote_host:remote_port`
* `xx:xx:xx:xx:xx:xx` (raw BT socket, Linux only)
The baud rate given as an extended device name is preferred to -b
For ESP8288 transparent serial over UDP (the recommended mode for ESP8266), the latter form is needed.
### Device name examples:
```
/dev/ttyUSB0@57600
/dev/ttyACM0
COM17@115200
tcp://esp8266:23
udp://:14014/esp-air:14014
# both sides use port 14014, remote (FC) is esp-air, blank local name is understood as INADDR_ANY.
30:14:12:02:16:64
```
## Use Cases
* Plan missions in apmplanner2 (QGC WPL 110 text files), upload (& save) to INAV
* Plan missions in qgroundcontrol (JSON plan files), upload (& save) to INAV
* Plan missions an any GPX creating GIS tool
* Plan mission in Google Earth, save as KML path, upload to the FC
* Convert "alien" formats to MW-XML.
* Move a mission to a new location
## Install
Binaries in the Release area (FreeBSD, Linux, MacOS, Win32) if you don't want it build it locally.
## Command summary
* upload : upload mission to FC volatile memory
* store : upload mission to FC volatile memory and stores in EEPROM
* download : downloads mission from FC volatile memory
* restore : restores mission from EEPROM to FC volatile memory and downloads the mission
* convert : converts alien formats to MW-XML (default), or the format defined by the `-fmt` option.
* test : tests communications with FC
* clear : clear mission in volatile RAM (specifically, uploads a mission with just a single RTH WP, which is always safe).
* erase : erases mission in EEPROM and clears mission in volatile RAM (specifically, uploads and stores a mission with just a single RTH WP, which is always safe).
* multi, multi=n : inav 4.0+; gets / sets the `nav_wp_multi_mission_index` value.
## Examples
```
# Linux, detect serial device, test communications
# Linux tries /dev/ttyACM0 and /dev/ttyUSB0 (in that order)
$ ./impload test
2018/05/24 18:08:11 Using device /dev/ttyUSB0 115200
INAV v2.0.0 SPRACINGF3 (e7ca7944) API 2.2 "vtail"
Waypoints: 0 of 60, valid 0
# Linux, detect serial device and upload a apmplanner2 mission file
$ ./impload upload samples/qpc_0.txt
2018/05/24 18:09:10 Using device /dev/ttyUSB0 115200
INAV v2.0.0 SPRACINGF3 (e7ca7944) API 2.2 "vtail"
Waypoints: 0 of 60, valid 0
upload 12, save false
Waypoints: 12 of 60, valid 1
#
# Upload / store a GPX file
$ ./impload store samples/qpc_1_trk.gpx
2018/05/24 18:34:49 Using device /dev/ttyUSB0 115200
INAV v2.0.0 SPRACINGF3 (e7ca7944) API 2.2 "vtail"
Waypoints: 11 of 60, valid 1
upload 11, save true
Saved mission
Waypoints: 11 of 60, valid 1
# TCP ...
#
$ impload -d tcp://localhost:4321 upload samples/qpc_1.mission
2018/09/18 18:57:08 Using device localhost 4321
INAV v2.1.0 SPRACINGF3 (a29bfbd1) API 2.2
Waypoints: 0 of 60, valid 0
upload 12, save false
Waypoints: 12 of 60, valid 1
$ impload -d tcp://localhost:4321 download /tmp/m.mission
2018/09/18 19:08:30 Using device localhost 4321
INAV v2.1.0 SPRACINGF3 (a29bfbd1) API 2.2
Waypoints: 12 of 60, valid 1
# UDP ....
#
$ impload -d udp://:14014/esp-air:14014 test
2018/09/19 21:11:34 Using device udp://:14014/esp-air:14014
INAV v2.1.0 SPRACINGF3 (a29bfbd1) API 2.2
Waypoints: 12 of 60, valid 1
$ impload -d udp://:14014/esp-air:14014 download /tmp/m.mission
2018/09/19 21:11:46 Using device udp://:14014/esp-air:14014
INAV v2.1.0 SPRACINGF3 (a29bfbd1) API 2.2
Waypoints: 12 of 60, valid 1
> REM Windows, needs a named device to be given
> impload -d COM17 upload samples/google-earth-mission.kml
# Conversion
$ impload convert g-earth.kmz example.mission
# Convert and relocate
impload -rebase 35.761000,140.378945 convert WP_test.mission /tmp/wp-test-jp.mission
```
## Build Instructions
### Go infrastructure, unmodified source
`go get github.com/stronnag/impload`, binaries endup in `go/bin`, source in `go/src/github.com/stronnag/impload`. Requires `go` and `git`.
### Local compilation (e.g for local modification)
`git clone https://github.com/stronnag/impload`
Files sources where ever you wish.
* Simplest: `make` (or `make install`)
* Windows (native): `make nocgo` (probably). You can also use the `nocgo` target on POSIX to generate a dynamically linked executable (vice the default static executable).
Note that you can cross-compile for any OS / architecture supported by Go using the `GOOS` and `GOARCH` environment variables, e.g for Win32 on Linux riscvs64:
```
$ uname -a
Linux jagular 5.15.2-cwt13 #2 SMP PREEMPT Thu Jun 1 14:42:43 +07 2023 riscv64 GNU/Linux
GOOS=windows GOARCH=386 make clean nocgo
rm -f impload
CGO_ENABLED=0 go build -trimpath -ldflags "-s -w -X \"main.GitCommit=0fa31fb / 2023-06-11\" -X \"main.GitTag=v5.161.652\""
$ file impload.exe
impload.exe: PE32 executable (console) Intel 80386 (stripped to external PDB), for MS Windows, 6 sections
```
## Postscript
The author knows how to spell "implode".