├── LICENSE ├── README.md ├── csv2djipilot.py └── exemple.csv /LICENSE: -------------------------------------------------------------------------------- 1 | CeCILL-C FREE SOFTWARE LICENSE AGREEMENT 2 | Notice 3 | This Agreement is a Free Software license agreement that is the result of discussions between its authors in order to ensure compliance with the two main principles guiding its drafting: 4 | 5 | firstly, compliance with the principles governing the distribution of Free Software: access to source code, broad rights granted to users, 6 | secondly, the election of a governing law, French law, with which it is conformant, both as regards the law of torts and intellectual property law, and the protection that it offers to both authors and holders of the economic rights over software. 7 | The authors of the CeCILL-C1 license are: 8 | 9 | Commissariat à l'Energie Atomique - CEA, a public scientific, technical and industrial research establishment, having its principal place of business at 25 rue Leblanc, immeuble Le Ponant D, 75015 Paris, France. 10 | 11 | Centre National de la Recherche Scientifique - CNRS, a public scientific and technological establishment, having its principal place of business at 3 rue Michel-Ange, 75794 Paris cedex 16, France. 12 | 13 | Institut National de Recherche en Informatique et en Automatique - INRIA, a public scientific and technological establishment, having its principal place of business at Domaine de Voluceau, Rocquencourt, BP 105, 78153 Le Chesnay cedex, France. 14 | 15 | Preamble 16 | The purpose of this Free Software license agreement is to grant users the right to modify and re-use the software governed by this license. 17 | 18 | The exercising of this right is conditional upon the obligation to make available to the community the modifications made to the source code of the software so as to contribute to its evolution. 19 | 20 | In consideration of access to the source code and the rights to copy, modify and redistribute granted by the license, users are provided only with a limited warranty and the software's author, the holder of the economic rights, and the successive licensors only have limited liability. 21 | 22 | In this respect, the risks associated with loading, using, modifying and/or developing or reproducing the software by the user are brought to the user's attention, given its Free Software status, which may make it complicated to use, with the result that its use is reserved for developers and experienced professionals having in-depth computer knowledge. 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These subsequent versions may address new issues encountered by Free Software. 198 | 199 | 12.3 Any Software distributed under a given version of the Agreement may only be subsequently distributed under the same version of the Agreement or a subsequent version. 200 | 201 | Article 13 - GOVERNING LAW AND JURISDICTION 202 | 13.1 The Agreement is governed by French law. The Parties agree to endeavor to seek an amicable solution to any disagreements or disputes that may arise during the performance of the Agreement. 203 | 204 | 13.2 Failing an amicable solution within two (2) months as from their occurrence, and unless emergency proceedings are necessary, the disagreements or disputes shall be referred to the Paris Courts having jurisdiction, by the more diligent Party. 205 | 206 | 1 CeCILL stands for Ce(a) C(nrs) I(nria) L(ogiciel) L(ibre) 207 | 208 | Version 1.0 dated 2006-09-05. 209 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | csv2djipilot creates a DJI kml file to be imported in a DJI Pilot waypoints. 2 | Csvfile contains 3 | ``` 4 | point_name;lon;lat;height;heading;gimbal;speed;turnmode;actions_sequence 5 | waypoint_A;2.2595689652949886;48.02450015337408;15.0;180;-30;5;AUTO;H2000.SHOOT.A-89 6 | waypoint_B;2.2596269016191606;48.02450001605067;22.98;180;-50;15;CC;H2000.SHOOT.H3000.REC 7 | waypoint_C;2.2596653502913546;48.02450001248549;25.98;180;-60;5;C;H2000.SHOOT.STOPREC 8 | ``` 9 | 10 | speed between 0 to 15 m/s 11 | 12 | turnmode is AUTO, C for clockwise or CC for counter clockwise 13 | 14 | actions sequence is a list of actions separted by points without space. There could be no action, one or multiple actions. 15 | - H1000 => Hover 1000ms = 1s 16 | - SHOOT => take a picture 17 | - G40 =>Gimbal a -40° 18 | - REC => start video recording 19 | - STOPREC => stop video recording 20 | - A-170 => turn aircraft to -170 . heading has a range of [-180, 180] degrees, where 0 represents True North. 21 | 22 | usage: csv2djipilot.py [-h] [-o OUTPUT] [--onfinish {hover,gohome}] csvfile 23 | 24 | positional arguments: 25 | csvfile Specify csv input file 26 | 27 | optional arguments: 28 | -h, --help show this help message and exit 29 | -o OUTPUT, --output OUTPUT 30 | Specify output file (default:stdout) 31 | --onfinish {hover,gohome} 32 | 33 | ex: 34 | ```` 35 | python3 csv2djipilot.py csvfile.csv -o output.kml 36 | ```` 37 | 38 | tested with DJI Matrice 210 RTK V2 39 | -------------------------------------------------------------------------------- /csv2djipilot.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python3 2 | 3 | from string import Template 4 | import csv 5 | import sys 6 | import argparse 7 | 8 | 9 | parser = argparse.ArgumentParser() 10 | parser.add_argument('csvfile', type=argparse.FileType('r'), 11 | help="Specify csv input file") 12 | #parser.add_argument('-outputfile',type=string, required=False, default="pilot.kml") 13 | parser.add_argument('-o', '--output', type=argparse.FileType('w'), 14 | default=sys.stdout, help="Specify output file (default:stdout)") 15 | parser.add_argument('--onfinish', default='hover', 16 | choices=['hover', 'gohome'], 17 | help='Aircraft action when finish. hover or gohome (default: %(default)s)' 18 | ) 19 | args = parser.parse_args() 20 | 21 | if args.onfinish == 'hover': 22 | ON_FINISH = "Hover" 23 | elif args.onfinish == 'gohome': 24 | ON_FINISH = "GoHome" 25 | else: 26 | sys.exit('onfinish shoud be hover or gohome') 27 | 28 | CsvFile = args.csvfile.name 29 | 30 | print(f'{CsvFile} to {args.output.name}') 31 | #CsvFile = 'exemple.csv' 32 | #CsvFile = 'exemple_simple.csv' 33 | CSV_HEADER = False 34 | 35 | XML_string = """ 36 | 37 | 38 | 39 | chambon_small 40 | 1 41 | 42 | Waypoint 43 | 0 44 | 45 | 51 | 58 | 59 | Waypoints 60 | Waypoints in the Mission.\n""" 61 | #name = None 62 | #lon = None 63 | #lat = None 64 | #height = None 65 | #heading = None 66 | ##gimbal = None 67 | all_coordinates = "" 68 | waypoint_number = 1 69 | 70 | waypoint_start = Template(""" 71 | Waypoint$waypoint_number 72 | 1 73 | Waypoint 74 | #waypointStyle 75 | 76 | false 77 | $heading 78 | $turnmode 79 | $gimbal 80 | false 81 | $speed 82 | true 83 | true 84 | LineStop 85 | 0.2""") 86 | 87 | 88 | waypoint_end = Template(""" 89 | 90 | 91 | relativeToGround 92 | $lon,$lat,$height 93 | 94 | """) 95 | hover_template = Template(""" 96 | Hovering""") 97 | shoot_template = Template(""" 98 | ShootPhoto""") 99 | 100 | gimbal_template = Template(""" 101 | GimbalPitch""") 102 | aircraftyaw_template = Template(""" 103 | AircraftYaw""") 104 | record_template = Template(""" 105 | StartRecording""") 106 | stoprecord_template = Template(""" 107 | StopRecording""") 108 | 109 | 110 | all_coordinates_template = Template("$lon,$lat,$height") 111 | xml_end = Template(""" 112 | 113 | Wayline 114 | Wayline 115 | 1 116 | 117 | 50.0 118 | 5.0 119 | $ON_FINISH 120 | UsePointSetting 121 | UsePointSetting 122 | false 123 | LineStop 124 | 125 | COMMON 126 | false 127 | 128 | 129 | false 130 | false 131 | 0.0 132 | 133 | 134 | 135 | #waylineGreenPoly 136 | 137 | 1 138 | relativeToGround 139 | $all_coordinates 140 | 141 | 142 | 143 | """) 144 | 145 | with open(CsvFile, newline='') as csvfile: 146 | if csv.Sniffer().has_header(csvfile.read(1024)): 147 | #print("Header detected !") 148 | CSV_HEADER = True 149 | csvfile.seek(0) 150 | dialect = csv.Sniffer().sniff(csvfile.read(1024)) 151 | csvfile.seek(0) 152 | csv_lines = csv.reader(csvfile, dialect) 153 | if CSV_HEADER: 154 | next(csv_lines, None) # skip the headers 155 | 156 | for row in csv_lines: 157 | if row: 158 | print(row) 159 | name = row[0] 160 | lon = row[1] 161 | lat = row[2] 162 | if lon[0] == '_': 163 | lon = lon[1:] 164 | if lat[0] == '_': 165 | lon = lat[1:] 166 | height = row[3] 167 | heading = row[4] 168 | gimbal = row[5] 169 | speed = row[6] 170 | turnmode = row[7] 171 | actions_sequence = row[8] 172 | 173 | if (float(speed) > 15) or (float(speed) <= 0): 174 | sys.exit('speed should be >0 or <=15 m/s for {}'.format(name)) 175 | if '.' not in speed: 176 | speed = speed+'.0' 177 | 178 | if '.' not in gimbal: 179 | gimbal = gimbal+'.0' 180 | 181 | if turnmode == 'AUTO': 182 | turnmode = 'Auto' 183 | elif turnmode == 'C': 184 | turnmode = 'Clockwise' 185 | elif turnmode == 'CC': 186 | turnmode = 'Counterclockwise' 187 | else: 188 | sys.exit('turnmode shoud be AUTO C or CC for {}'.format(name)) 189 | 190 | XML_string += waypoint_start.substitute( 191 | turnmode=turnmode, waypoint_number=waypoint_number, speed=speed, heading=heading, gimbal=gimbal) 192 | 193 | # Actions decoding 194 | if actions_sequence: 195 | action_list = actions_sequence.split('.') 196 | for action in action_list: 197 | if action == 'SHOOT': 198 | XML_string += shoot_template.substitute() 199 | elif action == 'REC': 200 | XML_string += record_template.substitute() 201 | elif action == 'STOPREC': 202 | XML_string += stoprecord_template.substitute() 203 | # Gimbal orientation 204 | elif action[0] == 'G': 205 | XML_string += gimbal_template.substitute( 206 | gimbal_angle=action[1:]) 207 | # Aircraft orientation 208 | elif action[0] == 'A': 209 | XML_string += aircraftyaw_template.substitute( 210 | aircraftyaw=action[1:]) 211 | elif action[0] == 'H': 212 | if float(action[1:]) < 500: 213 | print(float(action[1:])) 214 | sys.exit( 215 | 'Hover length is in ms and should be >500 for {}'.format(name)) 216 | XML_string += hover_template.substitute( 217 | length=action[1:]) 218 | 219 | XML_string += "\n" + \ 220 | waypoint_end.substitute(lon=lon, lat=lat, height=height,)+"\n" 221 | 222 | all_coordinates += all_coordinates_template.substitute( 223 | lon=lon, lat=lat, height=height)+" " 224 | waypoint_number += 1 225 | # remove last space from coordinates string 226 | all_coordinates = all_coordinates[:-1] 227 | XML_string += xml_end.substitute(all_coordinates=all_coordinates, 228 | ON_FINISH=ON_FINISH) 229 | 230 | with args.output as outpufile: 231 | outpufile.write(XML_string) 232 | -------------------------------------------------------------------------------- /exemple.csv: -------------------------------------------------------------------------------- 1 | point_name;lon;lat;height;heading;gimbal;speed;turnmode;actions_sequence 2 | waypoint_A;2.2595689652949886;48.02450015337408;15.0;180;-30;5;AUTO;H2000.SHOOT.A-89 3 | waypoint_B;2.2596269016191606;48.02450001605067;22.98;180;-50;15;CC;H2000.SHOOT.H3000.REC 4 | waypoint_C;2.2596653502913546;48.02450001248549;25.98;180;-60;5;C;H2000.SHOOT.STOPREC 5 | --------------------------------------------------------------------------------