impload

impload - iNav Mission Plan uploader

Introduction

impload is a cross-platform command line application to upload missions in a number of formats to an iNav flight controller. Supported formats include:

• MW XML mission files (as used by mwp, ezgui, mission planner for inav)
• apmplanner / qgroundcontrol mission files
• GPX files (tracks, routes, waypoints)
• KML, KMZ files
• Plain, simple CSV files

Serial devices and TCP are supported

Please see the wiki user guide for more information and CSV format

$ ./impload --help
Usage of ./impload [options] command [files ...]
  -a int
    	Default altitude (m) (default 20)
  -b int
    	Baud rate (default 115200)
  -d string
    	Device name
  -force-land
    	Adds RTH / Land for 'external' formats
  -force-rth
    	Adds RTH for 'external' formats
  -s int
    	Default speed (m/s)
  command
	Action required (upload|download|store|restore|convert|test)

Device Name

impload supports a subset of the mwp device naming scheme:

• serial_device[@baudrate]
• tcp://host:port
• udp://remotehost:remote_port
• udp://local_host:local_port/remote_host:remote_port

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.

Use Cases

• Plan missions in apm / qpc, 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
• Backup missions made in the configurator (as MW XML mission files)

Install

Binaries in the Release area (linux ia32/x86_64/arm7, Win32) if you don't want it build it locally.

From source: go get github.com/stronnag/impload, binaries endup in go/bin, source in go/src/github.com/stronnag/impload. Requires go and git.

Note: If you clone the repo, then you need to go get the dependencies:

go get github.com/tarm/serial
go get github.com/beevik/etree

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 qpc /apm 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

Postscript

The author knows how to spell "implode".