Tools: Extracts parameter default values from an ArduPilot .bin file.

Supports Mission Planner, MAVProxy and QGCS file format output

Contains unittests with 95% coverage

Amilcar do Carmo Lucas, IAV GmbH

.github/workflows/test_extract_params_default.yml

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+name: test extract_params_default_unittest.py
+
+on:
+  push:
+    paths:
+      - 'Tools/scripts/extract_params_default.py'
+      - 'Tools/scripts/extract_params_default_unittest.py'
+
+jobs:
+  build:
+    runs-on: ubuntu-22.04
+    container:
+      image: ardupilot/ardupilot-dev-clang:v0.1.3
+      options: --user 1001
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+      - name: Set up Python
+        uses: actions/setup-python@v2
+        with:
+          python-version: '3.x'
+      - name: Install dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install -r requirements.txt
+      - name: Run tests
+        run: |
+          Tools/scripts/extract_params_default_unittest.py

Tools/scripts/extract_param_defaults.py

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+#!/usr/bin/python3
+
+'''
+Extracts parameter default values from an ArduPilot .bin file.
+
+Supports Mission Planner, MAVProxy and QGCS file format output
+
+Currently has 95% unit test coverage
+
+AP_FLAKE8_CLEAN
+
+Amilcar do Carmo Lucas, IAV GmbH
+'''
+
+import argparse
+import re
+from typing import Dict, Tuple
+from pymavlink import mavutil
+
+NO_DEFAULT_VALUES_MESSAGE = "The .bin file contained no parameter default values. Update to a newer ArduPilot firmware version"
+PARAM_NAME_REGEX = r'^[A-Z][A-Z_0-9]*$'
+PARAM_NAME_MAX_LEN = 16
+MAVLINK_SYSID_MAX = 2**24
+MAVLINK_COMPID_MAX = 2**8
+
+
+def extract_parameter_default_values(logfile: str) -> Dict[str, float]:
+    """
+    Extracts the parameter default values from an ArduPilot .bin log file.
+
+    Args:
+        logfile: The path to the ArduPilot .bin log file.
+
+    Returns:
+        A dictionary with parameter names as keys and their default values as float.
+    """
+    try:
+        mlog = mavutil.mavlink_connection(logfile)
+    except Exception as e:
+        raise SystemExit("Error opening the %s logfile: %s" % (logfile, str(e))) from e
+    defaults = {}
+    while True:
+        m = mlog.recv_match(type=['PARM'])
+        if m is None:
+            if not defaults:
+                raise SystemExit(NO_DEFAULT_VALUES_MESSAGE)
+            return defaults
+        pname = m.Name
+        if len(pname) > PARAM_NAME_MAX_LEN:
+            raise SystemExit("Too long parameter name: %s" % pname)
+        if not re.match(PARAM_NAME_REGEX, pname):
+            raise SystemExit("Invalid parameter name %s" % pname)
+        # parameter names are supposed to be unique
+        if pname not in defaults and hasattr(m, 'Default'):
+            defaults[pname] = m.Default  # the first time default is declared is enough
+
+
+def missionplanner_sort(item: str) -> Tuple[str, ...]:
+    """
+    Sorts a parameter name according to the rules defined in the Mission Planner software.
+
+    Args:
+        item: The parameter name to sort.
+
+    Returns:
+        A tuple representing the sorted parameter name.
+    """
+    parts = item.split("_")  # Split the parameter name by underscore
+    # Compare the parts separately
+    return tuple(parts)
+
+
+def mavproxy_sort(item: str) -> str:
+    """
+    Sorts a parameter name according to the rules defined in the MAVProxy software.
+
+    Args:
+        item: The parameter name to sort.
+
+    Returns:
+        The sorted parameter name.
+    """
+    return item
+
+
+def sort_params(defaults: Dict[str, float], sort_type: str = 'none') -> Dict[str, float]:
+    """
+    Sorts parameter names according to sort_type
+
+    Args:
+        defaults: A dictionary with parameter names as keys and their default values as float.
+        sort_type: The type of sorting to apply. Can be 'none', 'missionplanner', 'mavproxy' or 'qgcs'.
+
+    Returns:
+        A dictionary with parameter names as keys and their default values as float.
+    """
+    if sort_type == "missionplanner":
+        defaults = dict(sorted(defaults.items(), key=lambda x: missionplanner_sort(x[0])))
+    elif sort_type == "mavproxy":
+        defaults = dict(sorted(defaults.items(), key=lambda x: mavproxy_sort(x[0])))
+    elif sort_type == "qgcs":
+        defaults = {k: defaults[k] for k in sorted(defaults)}
+    return defaults
+
+
+def output_params(defaults: Dict[str, float], format_type: str = 'missionplanner',
+                  sysid: int = -1, compid: int = -1) -> None:
+    """
+    Outputs parameters names and their default values to the console
+
+    Args:
+        defaults: A dictionary with parameter names as keys and their default values as float.
+        format_type: The output file format. Can be 'missionplanner', 'mavproxy' or 'qgcs'.
+
+    Returns:
+        None
+    """
+    if format_type == "qgcs":
+        if sysid == -1:
+            if 'SYSID_THISMAV' in defaults:
+                sysid = defaults['SYSID_THISMAV']
+            else:
+                sysid = 1  # if unspecified, default to 1
+        if compid == -1:
+            compid = 1  # if unspecified, default to 1
+        if sysid < 0:
+            raise SystemExit("Invalid system ID parameter %i must not be negative" % sysid)
+        if sysid > MAVLINK_SYSID_MAX-1:
+            raise SystemExit("Invalid system ID parameter %i must be smaller than %i" % (sysid, MAVLINK_SYSID_MAX))
+        if compid < 0:
+            raise SystemExit("Invalid component ID parameter %i must not be negative" % compid)
+        if compid > MAVLINK_COMPID_MAX-1:
+            raise SystemExit("Invalid component ID parameter %i must be smaller than %i" % (compid, MAVLINK_COMPID_MAX))
+        # see https://dev.qgroundcontrol.com/master/en/file_formats/parameters.html
+        print("""
+# # Vehicle-Id Component-Id Name Value Type
+""")
+
+    for param_name, default_value in defaults.items():
+        if format_type == "missionplanner":
+            try:
+                default_value = format(default_value, '.6f').rstrip('0').rstrip('.')
+            except ValueError:
+                pass # preserve non-floating point strings, if present
+            print(f"{param_name},{default_value}")
+        elif format_type == "mavproxy":
+            print("%-15s %.6f" % (param_name, default_value))
+        elif format_type == "qgcs":
+            MAV_PARAM_TYPE_REAL32 = 9
+            print("%u %u %-15s %.6f %u" %
+                  (sysid, compid, param_name, default_value, MAV_PARAM_TYPE_REAL32))
+
+
+def parse_arguments(args=None):
+    """
+    Parses command line arguments for the script.
+
+    Args:
+        args: List of command line arguments. Defaults to None, which means it uses sys.argv.
+
+    Returns:
+        Namespace object containing the parsed arguments.
+    """
+    parser = argparse.ArgumentParser(description='Extracts parameter default values from an ArduPilot .bin file.')
+    parser.add_argument('-f', '--format',
+                        choices=['missionplanner', 'mavproxy', 'qgcs'],
+                        default='missionplanner', help='Output file format. Defaults to %(default)s.',
+                        )
+    parser.add_argument('-s', '--sort',
+                        choices=['none', 'missionplanner', 'mavproxy', 'qgcs'],
+                        default='', help='Sort the parameters in the file. Defaults to the same as the format.',
+                        )
+    parser.add_argument('-v', '--version', action='version', version='%(prog)s 1.0',
+                        help='Display version information and exit.',
+                        )
+    parser.add_argument('-i', '--sysid', type=int, default=-1,
+                        help='System ID for qgcs output format. Defaults to SYSID_THISMAV if defined else 1.',
+                        )
+    parser.add_argument('-c', '--compid', type=int, default=-1,
+                        help='Component ID for qgcs output format. Defaults to 1.',
+                        )
+    parser.add_argument('bin_file', help='The ArduPilot .bin log file to read')
+    args, _ = parser.parse_known_args(args)
+
+    if args.sort == '':
+        args.sort = args.format
+
+    if args.format != 'qgcs':
+        if args.sysid != -1:
+            raise SystemExit("--sysid parameter is only relevant if --format is qgcs")
+        if args.compid != -1:
+            raise SystemExit("--compid parameter is only relevant if --format is qgcs")
+
+    return args
+
+
+def main():
+    args = parse_arguments()
+    parameter_default_values = extract_parameter_default_values(args.bin_file)
+    parameter_default_values = sort_params(parameter_default_values, args.sort)
+    output_params(parameter_default_values, args.format, args.sysid, args.compid)
+
+
+if __name__ == "__main__":
+    main()