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## Description
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Convert QGroundControl survey waypoints to DJI GO 4 waypoints 2.0.
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This is spefically intended to work _only_ with the "survey" mode from
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QGroundControl.
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This will likely only work if your smartphone is rooted, as you will need `su`.
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My personal recommendation is to get `Magisk` installed.
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This script is largely very naiive. It works as expected with `qgroundcontrol
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v4.0.11-1` and `DJI GO 4 v??` as of date 06-11-2020.
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There is no guarantee it will continue to work with future updates of either
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application. You have been warned.
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By default, a backup of the original DJI GO 4 database is made, so even if
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the resulting db is broken, you can always recover the original.
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Has only been tested using `omnirom beryllium` - your mileage may vary.
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## Dependencies
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For the script:
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- Python 3
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- all required modules are I believe part of python core
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- sqlite3
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Obviously:
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- QGroundControl
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- DJI GO 4
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## Prerequisite
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- Open QGroundControl
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- either with the app on your phone, or more easily with the
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desktop version. Tested with Linux and the App, but should be the same for Mac
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and Windoze
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- Create a survey waypoint mission
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- Make sure the camera lens settings are all correct
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- Use your common sense to determine
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- suitable overlap
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- cruising flight speed
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- suitable altitude
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- other?
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Some settings can be passed directly to the script from the commandline, and
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will overwrite the equivalent values from QGroundControl.
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*n.b.* This script currently ignores takeoff and landing points, and solely focusses
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on the survey mission waypoints, at a single altitude.
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## Preparation
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It is assumed that you have a terminal open on your "host" in a suitable working
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directory, and that `qgc2dji.py` is in that directory.
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When copying the `.db` you can store it wherever you like - it just has to be a
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location that `adb pull` can retrieve from.
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Once your phone is rooted and reasonably under your own control (developer
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options enabled, USB debugging enabled):
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## Usage
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Use your own judgement when it comes to `chown` and `chmod` to match the original
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`.db`
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```
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[host]$ adb shell
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[phone]$ su
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[phone]# cp /data/data/dji.go.v4/databases/way_point_2.db /sdcard/
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[phone]# <ctrl-d>
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[phone]$ <ctrl-d>
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[host]$ adb pull /sdcard/way_point_2.db ./
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[host]$ python ./qgc2dji.py -i <qgroundcontrol savefile> -d ./way_point_2.db
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[host]$ adb push ./way_point_2.db /sdcard/
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[host]$ adb shell
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[phone]$ su
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[phone]# cd /data/data/dji.go.v4/databases
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[phone]# mv /sdcard/way_point_2.db ./
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[phone]# ls -ld
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drwxrwx--x 2 <user> <group> 4096 2020-11-06 11:48 .
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[phone]# chown <user>:<group> ./way_point_2.db
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[phone]# chmod 660 ./way_point_2.db
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```
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## Future
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- Also update 'way_point_2_cache.db'
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- Choice of "action upon mission completion"
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- Currently defaults to hover
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- Altitude per waypoint
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- Takeoff and landing points?
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- Calculate appropriate crusing flight speed?
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- Dependent on required overlap and limitation of camera regarding photo
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interval
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- Waypoint triggers (start/stop recording, take photo, etc)
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@ -0,0 +1,255 @@
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#!/usr/bin/python3
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# Convert QGroundControl survey waypoints to DJI GO 4 waypoints 2.0
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#
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# Solely for the creation of terrain survey mapping
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# at a fixed altitude.
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import sys
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import os
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import shutil
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import argparse
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import time
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import math
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import random
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import sqlite3
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import json
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####### Globals ################################################################
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mission_table = 'dji_pilot_dji_groundstation_waypoint2_model_WayPoint2MissionDBModel'
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waypoint_table = 'dji_pilot_dji_groundstation_waypoint2_model_WayPoint2MissionDBModel$WayPoint2DBPoint'
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####### Helper Function(s) #####################################################
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def haversine(coord1, coord2):
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R = 6371000 #6372800 # Earth radius in meters [looks like DJI GO 4 uses 6371000]
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lat1, lon1 = coord1
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lat2, lon2 = coord2
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phi1, phi2 = math.radians(lat1), math.radians(lat2)
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dphi = math.radians(lat2 - lat1)
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dlambda = math.radians(lon2 - lon1)
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a = math.sin(dphi/2)**2 + \
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math.cos(phi1) * math.cos(phi2) * math.sin(dlambda/2)**2
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return 2 * R * math.atan2(math.sqrt(a), math.sqrt(1 - a))
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################################################################################
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# TODO: Confirm that 'complexItemType' = "survey"
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# TODO: Also update 'way_point_2_cache.db'
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# - delete existing cached mission, and its' waypoints
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# - insert the same new data as with 'way_point_2.db'
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parser = argparse.ArgumentParser(description='Convert QGroundControl survey waypoints to DJI GO 4 waypoints 2.0')
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parser.add_argument('-d', '--dbfile', required=True, type=str,
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help='DJI GO 4 database file')
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parser.add_argument('-i', '--infile', required=True, type=argparse.FileType('r'),
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help='JSON input file')
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parser.add_argument('-a', '--altitude', type=float,
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help='Altitude above ground, in meters')
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parser.add_argument('-f', '--finishaction', type=int, default=4,
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help='Act to perform upon mission completion [0, 1, 2, 3 or 4 - hover] (default: %(default)s)')
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parser.add_argument('-n', '--name', type=str,
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help='Name for the mission (qgc2dji-survey_<date-time>)')
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parser.add_argument('-s', '--speed', type=float,
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help='Flight speed')
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args = parser.parse_args()
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if not os.path.isfile(args.dbfile):
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print("[ERROR] Database file does not exist!", file=sys.stderr)
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exit(2)
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try:
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conn = sqlite3.connect(args.dbfile)
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except sqlite3.Error as e:
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print("[ERROR] Could not connect to database!\n" + e.args[0], file=sys.stderr)
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exit(2)
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# The only values we care about are inside "TransectStyleComlexItem"
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items = json.loads(args.infile.read())['mission']['items']
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main_data = None
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for item in items:
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if 'TransectStyleComplexItem' in item:
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main_data = item["TransectStyleComplexItem"]
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break
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if not main_data:
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print("[ERROR] Required data not present in json!", file=sys.stderr)
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exit(2)
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altitude = args.altitude
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if not altitude:
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altitude = main_data["CameraCalc"]["DistanceToSurface"]
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finishaction = args.finishaction
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# If this is no set, it will be later on during parsing
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flight_speed = args.speed
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if not flight_speed:
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# First check if a value was set in the json
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for item in items:
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if 'command' in item and item['command'] == 178:
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# Reverse-engineered this location - could easily change in future QGroundControl releases
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flight_speed = item['params'][1]
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break
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# Set an acceptable, but slow default if speed still hasn't been set
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# TODO: Calculate this based on mission distance / photo count / 5s to get one photo per 5seconds ???
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if not flight_speed:
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flight_speed = 3.5
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mission_name = args.name
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if not mission_name:
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timestr = time.strftime('%d%m%Y-%H%M%S')
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mission_name = "qgc2dji-survey_" + timestr
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# DJI GO database stores time in milliseconds since epoch
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update_time = int(round(time.time() * 1000))
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cur = conn.cursor()
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cur.execute(f'SELECT missionId FROM {mission_table}')
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existing_ids = cur.fetchall()
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# Looking at existing database entries, it appears that 'missionId' is an arbitrary value
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mission_id = random.randrange(10000,99999)
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while (mission_id,) in existing_ids:
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print("[INFO] ID collision. Generating new ID.")
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mission_id = random.randrange(10000,99999)
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waypoint_queue = []
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# Set default values for DJI GO database waypoint table
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heading_type = 0 # Free ?
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poi_index = -1 # None ?
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heading = 0 # Look-ahead ?
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action = 0 # Do nothing (as opposed to take photo, etc)
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pitch = -90.0 # Point camera toward ground
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radius = 2.0 # Some default ? Could be realted to 'arc' vs 'polyline'
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speed = 0.0 # Use 'autoFlightSpeed' from 'mission_table'
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# Prepare each waypoint for insert
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waypoints = main_data['VisualTransectPoints']
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last_coord = ()
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curr_coord = ()
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accum_distance = 0
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# TEST DATA - Expected accumulated result: 1825.33557128906
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# Result initially was 1825.8512451494107 which should be close enough
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# Result with "standard" Earth radius is 1825.3355327088402 which is closer still
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# TODO: Test geopy module ? [see: https://janakiev.com/blog/gps-points-distance-python/]
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#waypoints = [(-19.9914615912953,57.6010317688705),
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# (-19.9906124706645,57.6018561685789),
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# (-19.9907586941667,57.6021400677547),
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# (-19.9917566018806,57.6012092059048),
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# (-19.9920208284113,57.6013183979067),
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# (-19.9908972216132,57.6023884794603),
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# (-19.9910049650248,57.6026669190904),
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# (-19.9923184032966,57.601438509184),
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# (-19.9925544106552,57.6017169485915),
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# (-19.9911050125569,57.6029944951315),
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# (-19.9912281477626,57.6033111519851),
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# (-19.9927904174512,57.6019353328111),
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# (-19.9931793793255,57.6022154786425),
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# (-19.9915212340617,57.6036721688515),
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# (-19.9915956280736,57.6039779066684),
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# (-19.9934298150556,57.6024819755698)]
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count = 0
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for waypoint in waypoints:
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latitude = waypoint[0]
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longitude = waypoint[1]
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waypoint_id = count
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count = count + 1
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waypoint_queue.append((heading_type, altitude, mission_id, poi_index, heading, latitude, action, pitch, radius, speed, longitude, waypoint_id))
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if count > 1:
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curr_coord = (latitude, longitude)
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accum_distance = accum_distance + haversine(last_coord, curr_coord)
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last_coord = curr_coord
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else:
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last_coord = (latitude, longitude)
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# Set default values for DJI GO database mission table
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is_use_custom_direction = 0
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first_lon = 0.0
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first_lat = 0.0
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local = ''#None # becomes NULL in sqlite db
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exit_mission_on_rc_lost = 0 # Keep flying
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flight_path_mode = 0 # 'polyline' vs 'arc' ?
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is_cache = 0 # ?
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rotate_gimbal_pitch = 1 # ?
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goto_first_waypoint_mode = 0 # ?
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repeat_times = 1 # Only fly the mission once
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max_flight_speed = 8.3 # (m/s) Based on ~30km/h being a good maximum
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heading_mode = 0 # ? Different from 'heading_type' ?
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is_enable_multi_poi = 0
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route_distance = accum_distance #'' #None # Can we get away with leaving this blank !?
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point_count = len(waypoints)
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print("\n======= MISSION DATA =======\n")
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print(f"Mission name:\t\t{mission_name}")
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print(f"Mission id:\t\t{mission_id}")
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print(f"Max flight speed:\t{max_flight_speed} m/s")
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print(f"Cruise speed:\t\t{flight_speed} m/s")
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print(f"Altitude:\t\t{altitude} m")
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print(f"Route distance:\t\t{route_distance} m")
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print(f"Finished action:\t{finishaction}")
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print("")
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# TODO: Implement more robust regex version of the following
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proceed = ''
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while proceed not in ['y', 'Y', 'n', 'N']:
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proceed = input("Write out to database? [y/n] ")
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if proceed == 'n' or proceed == 'N':
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print("[INFO] Exiting without updating database.")
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exit(1)
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# Generate SQL INSERT for the mission
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sql = (f"INSERT INTO {mission_table}"
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"(missionId, isUseCustomDirection, updateTime, finishedAction, firstLng, local, "
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"exitMissionOnRCSignalLost, flightPathMode, isCache, rotateGimbalPitch, "
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"gotoFirstWaypointMode, pointCount, repeatTimes, routDistance, firstLat, " # n.b. 'routDistance' is not a spelling mistake
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"missionName, maxFlightSpeed, headingMode, autoFlightSpeed, isEnableMultiPOI) "
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"VALUES (?,?,?,?,?,?,?,?,?,?,?,?,?,?,?,?,?,?,?,?)")
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cur.execute(sql, (mission_id, is_use_custom_direction, update_time, finishaction,
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first_lon, local, exit_mission_on_rc_lost, flight_path_mode,
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is_cache, rotate_gimbal_pitch, goto_first_waypoint_mode, point_count,
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repeat_times, route_distance, first_lat, mission_name, max_flight_speed,
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heading_mode, flight_speed, is_enable_multi_poi))
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# SQL INSERT for all waypoints from QGroundControl
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sql = (f"INSERT INTO {waypoint_table}"
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"(headingType, altitude, missionId, poiIndex, heading, latitude, action, "
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"pitch, radius, speed, longitude, myIndex) "
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"VALUES (?,?,?,?,?,?,?,?,?,?,?,?)")
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cur.executemany(sql, waypoint_queue)
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# TODO: Implement database backup as a commandline option
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shutil.copy2(args.dbfile, args.dbfile + ".bak")
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# Write changes back to the database
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conn.commit()
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# TODO: Determine if there is any other clean up
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conn.close()
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Loading…
Reference in New Issue